Improved A* Multi-Robot Bilevel Path Planning Algorithm

In order to obtain the high-quality collision free path of multi-robots, a multi-robot bilevel programming algorithm based on improved A* algorithm and conflict coordination strategy is proposed. Firstly, in the first layer of the algorithm, the heuristic function of the traditional A* algorithm is improved by introducing the dynamic weight factor combined with planned path information to avoid its blind search, so as to speed up the search speed. Through the screening mechanism and Bezier curve, the actual turning times of the robot are reduced and planned path is smoothed, and then the initial path of a single robot is obtained. Secondly, in the second layer of the algorithm, the time dimension is introduced based on the two-dimensional path to establish the robot path time map, so as to predict the conflict between robots. Finally, the conflict coordination strategy is used to coordinate the conflicts between robots and between robots and dynamic obstacles. The experimental results show that the bilevel programming algorithm can effectively reduce planned path search time and the number of turns, and obtain the smooth and collision free navigation path of each robot. © 2023 Journal of Computer Engineering and Applications Beijing Co., Ltd.; Science Press. All rights reserved.