3D-Height Terrain Multi-units Cooperate Path-finding

Path Planning/Finding Problems are very valuably to be researched in computer science.In a lot of fields, such as network routing algorithm design, robots routes-exploring. The navigation of traffic path, artificial intelligence and reactive virtual reality system design, it costs a lot of application. But conventional solutions mainly focus on 2D planar path-net structure and individual path-finding unit. Along with the increasement of computer hardware, and development of applied environment, in the 3D terrain with height information ,we have to promote a solution to the problem that Multi-units how find the best path with the help of cooperate communion.During a lot of research on unit status conversion process, by rebuilding and reconstructing conventional path-finding algorithm and model, we promote the method to guide Multi-units how to find path in 3D terrain with cooperation. The main work is showed in the following.First, On research of conventional fractal brown movement, this paper expand the mathematical model of planar FBM, and prove its correctness. There for, we have put forward a method to create 3D Height Fractal stochastic.This method is very fast, and we can create high accurate terrain. The terrain has characteristic of random and self-comparability.Secondly, In order to make the path-finding correct, then, we construct path-nets on the terrain, form searchable state-spaces marshal. To improve the path-finding efficiency and performance, we complete the predigestion of path-net grids.Thirdly, In order to settle the reaction problem of Multi-units, this text constructs a reactive system by research. This system guarantees the process of communion of Multi-units by pheromone and reactive communion mechanism,providing steady and fast inter-operate model, Following this principle, Multi-units are able to find the best path by sharing the information and cooperating reflection. Also, we give the attest of the communion astringency, illuminate that we must get the best solution during some time.Finally, we have designed a Multi-units path-finding system in 3D reactive Virtual Reality(VR)engine dicuss the application of Multi-units path-finding method.