Abstract: A new particle swarm solvable-space pathfinding algorithm is proposed ，and the VegaPrime（VP）three-dimensionalvisualpathplanningsimulationsystemisachieved. Thealgorithmas ?sumesthateachinitialparticleisapotentiallyviablesolutionandcanreachtheterminalpoint.Dur ?ing the full iterations ，each particle updates its position continually and saves the numbers of pathpoints. Whenthesearch ended，findtheparticlewhosenumberofthepathpointsisfewest，andsetthisparticle ′ soptimalpositionineachiterationasthewayfindingroute.MeanwhileinVPlargemapscene，adding a circular gradient for the rectangular obstacles can easily solve the algorithm′ s de ?fect. The simulation system runs correctly proves the practicality of the algorithm and effectivenessofthesystem.

Key words: solvable-spacealgorithm , scenesimulation , pathplanning , circulargradient