An improved conflict⁃based search algorithm for multi⁃agent path planning

被引：0
|
作者：
Yu L. [1 ]
Cao P. [1 ]
Shi L. [2 ]
Lian J. [1 ]
Wang D. [1 ]
机构：
[1] School of Control Science and Engineering, Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian
[2] Chinese Aeronautical Establishment, Beijing
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2023年 / 44卷
基金：
中国国家自然科学基金;
关键词：
conflict classification; conflict detection; conflict resolution; conflict-based search; multi-agent path planning;
D O I：
10.7527/S1000-6893.2022.27648
中图分类号：
学科分类号：
摘要：
The multi-agent path planning problem is widely used in multi-machine tasks in the aerospace field，but it is difficult to solve the problem. The improved conflict-based search algorithm is designed to quickly solve the multi-agent path planning problem. In terms of global path planning，a multi-objective cost function is designed to give a comprehensive consideration of the sum of path costs and the make span，and a conflict classification and resolution scheme based on the unique shortest path is then proposed to reduce the computational cost of multi-agent path planning. In terms of online conflict resolution，the velocity obstacle method is used to detect and resolve the sudden conflict between agents and dynamic obstacles. Simulation results show that the algorithm proposed retains the optimality of the conflict-based search algorithm in global path planning and reduces the amount of calculation. Thus，this algorithm can effectively realize online conflict detection and resolution. © 2023 AAAS Press of Chinese Society of Aeronautics and Astronautics. All rights reserved.
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