Tactical Path Planning for CGF Agent in Urban Combat Simulation

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.