Bayrak A. G., POLAT F.

6th International Industrial Simulation Conference, Lyon, France, 9 - 11 June 2008, pp.148-155 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Lyon
  • Country: France
  • Page Numbers: pp.148-155
  • Middle East Technical University Affiliated: Yes


Navigation of a. group of autonomous agents dial are needed to maintain a. formation is a challenging task which has not been studied much in especially 3-D terrains. This paper presents a novel approach to collision free path finding of multiple agents preserving a predefined formation in a 3-D terrain. The proposed method could be used in many areas like navigation of semi-automated forces (SAF) at, unit level in military simulations kind lion player characters (NPC) in computer games. The proposed path finding algorithm first computes an optimal pat,h from an initial point to a target point after analyzing the 3-D terrain data from which it constructs a, weighted graph. Then it; employs a real-time pat,h Finding, algorithm specifically designed to realize the navigation of the group from one way point, to the successive one on the optimal path generated A the previous stage, preserving the formation and avoiding collision both. A software was developed to test the methods discussed here.