一种团队自治实体路径规划算法TAEPP

Team autonomous entity path planning algorithm TAEPP

对团队自治实体的路径规划问题进行了分析,提出了一种团队自治实体路径规划算法TAEPP(Team Autonomous Entity Path Planning).该算法是一种集中式的全局规划方法,使用改进的A*算法得到团队中Leader成员的路径,通过对Leader路径的优化得到关键点表和队形转换表,利用关键点表和队形转换表得到团队中非Leader成员的路径.队形转换表可以使行进中的队形变换更合理,减少了队形维护时需要的通信量.通过调整算法中的2个影响因子,可以分别得到侧重于队形和侧重于距离的路径.试验结果验证了TAEPP算法的合理性和有效性.

Through analyzing of team autonomous entity path planning problem, a path planning algorithm TAEPP （Team Autonomous Entity Path Planning） was proposed. It is a centralized global planning method. Using mended A^＊ algorithm ,can get path for team leader, and through optimizing,the table of key points and the table of formation changing were achieved, so paths for all non-leader members could be found. Formation changing table made the formation change more reasonable, and decreased the required communication numbers in formation maintaining. Through adjusting the two parameters in the algorithm, different paths emphasized on formation and emphasized on distance would be found. The results of experiment show that TAEPP algorithm can provide more reasonable and more efficacious paths for every member in team, according to the environment and team formations.