摘要： 在城市作战仿真中，提出一种单CGF Agent战术路径规划方法。分析Agent路径规划过程中需要考虑的战术任务要求，建立距离代价与战术代价相结合的综合路径评价模型，设计基于改进概率路标图的战术路径规划方法。实验结果表明，该方法进行100次实验的平均规划时间为72.94 ms，最大和最小规划时间分别为110 ms和15 ms。

关键词: 计算机生成兵力, 智能体, 自主行为, 路径规划, 概率路标图

Abstract: In this paper, the tactical path planning method for Computer Generated Force(CGF) Agent in urban combat simulation is proposed. It analyzes the tactical requirement of Agent path planning, and the mathematics model of path optimization based on the distance cost and tactical cost is established. A Probabilistic Roadmap Method(PRM)-based tactical path planning framework is presented. Experimental results show that the average planning time is 72.94 ms, the maximum and minimum planning time are 110 ms and 15 ms.

Key words: Computer Generated Force(CGF), Agent, autonomous behavior, path planning, probabilistic roadmap

中图分类号: 

• TP311.52