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一种团队自治实体路径规划算法TAEPP

郑延斌 赵沁平

郑延斌, 赵沁平. 一种团队自治实体路径规划算法TAEPP[J]. 北京航空航天大学学报, 2008, 34(06): 656-660.
引用本文: 郑延斌, 赵沁平. 一种团队自治实体路径规划算法TAEPP[J]. 北京航空航天大学学报, 2008, 34(06): 656-660.
Zheng Yanbin, Zhao Qinping. Team autonomous entity path planning algorithm TAEPP[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(06): 656-660. (in Chinese)
Citation: Zheng Yanbin, Zhao Qinping. Team autonomous entity path planning algorithm TAEPP[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(06): 656-660. (in Chinese)

一种团队自治实体路径规划算法TAEPP

基金项目: 国家863计划资助项目(2006AA01Z333)
详细信息
    作者简介:

    郑延斌(1964-),男,河南内乡人,博士生,zybcgf@163.com.

  • 中图分类号: TP 391

Team autonomous entity path planning algorithm TAEPP

  • 摘要: 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.

     

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出版历程
  • 收稿日期:  2008-01-04
  • 网络出版日期:  2008-06-30

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