Team autonomous entity path planning algorithm TAEPP

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.