A Path Planning Algorithm of Maintaining CGF Team Formation

CGF (Computer Generated Forces) team is able to complete complex tasks in a dynamic environment. Path planning is one of the key problems in CGF team research. A path planning algorithm of maintaining CGF team formation, ATPP, is proposed by analyzing CGF team path planning problems. It is a centralized global planning method using improved A* algorithm to get a leaderpsilas path. Through optimizing the leaderpsilas path, the key point table and the formation change table are achieved, by which all non-leader members of team can be obtained. Formation change table can not only make the marching formation change more reasonable, but also decrease the communication throughput required for formation maintenance. Through adjusting the two impact factors in the algorithm, both paths emphasizing on formation and distance are achieved respectively, so that Haopsilas method is improved.