基于改进冲突搜索的多智能体路径规划算法
收稿日期: 2022-06-20
修回日期: 2022-07-10
录用日期: 2022-09-06
网络出版日期: 2022-09-22
基金资助
国家重点研发计划(2019YFE0197700);国家自然科学基金(61973050);辽宁省兴辽英才计划（XLYC
An improved conflict⁃based search algorithm for multi⁃agent path planning
Received date: 2022-06-20
Revised date: 2022-07-10
Accepted date: 2022-09-06
Online published: 2022-09-22
Supported by
National Key Research and Development Program of China(2019YFE0197700);National Natural Science Foundation of China(61973050);Liaoning Revitalization Talents Program(XLYC2007010);Fundamental Research Funds for the Central Universities(DUT20GJ209)
于连波 , 曹品钊 , 石亮 , 连捷 , 王东 . 基于改进冲突搜索的多智能体路径规划算法[J]. 航空学报, 2023 , 44(S1) : 727648 -727648 . DOI: 10.7527/S1000-6893.2022.27648
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.
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