Simulating Line-Of-Sight Radar Returns

Computational method developed to model return signals of ground-mapping radar system for use in simulations where terrain is polygonal form commonly used with computer-generated imagery (CGI). Approach involves fast rejection of polygons not visible to radar return. Technique used to determine which objects in scene visible from specified vantage point and also to determine movements of robot arms avoiding obstacles. Test circles used in algorithm quickly rejects terrain features not traversed by radar line of sight. If circle does not cross line of sight, then all mountains in it rejected.