A Path Planning Algorithm with Agent Team Formation Maintained
Duan De-quan · Computer Technology and Development · 2009
Agent team can do complex works in dynamic environments,path planning is one of key problems in agent team researching.Through analyzing of agent team path planning problem,proposed a path planning algorithm ATPP with agent team formation maintained.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 path 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,can get different paths emphasized on formation and emphasized on distance.Mend the method of Hao's.