A method and device for collision avoidance path planning of a four-way shuttle vehicle

Abstract

The application discloses a four-way shuttle vehicle conflict avoidance path planning method and device, and the path planning method comprises the following steps: acquiring a four-way shuttle vehicle system map information, and rasterizing the system map; acquiring a current starting point position coordinate of the four-way shuttle vehicle, a target storage location coordinate, an end point position coordinate, and a storage location loading condition in the four-way shuttle vehicle system; calculating Manhattan distances of the starting point and the target storage location, and the target storage location and the end point; generating a cost distance matrix and a cost serial number matrix of multiple starting points and multiple target points; matching the starting point and the target point based on the cost distance matrix and the cost serial number matrix; modifying the storage location attribute in the system according to the actual loading condition of the storage location; and planning a path for the four-way shuttle vehicle by using a CBS algorithm. The method provided by the application can find a matching target of the starting point and the end point with the minimum cost distance in a local area, thereby guaranteeing the stability of solving the assignment problem of the starting point and the end point, and improving the efficiency of subsequent path planning work.

Description

Technical Field

[0001] This invention relates to the field of four-way shuttle path planning technology, specifically to a path planning method and apparatus for avoiding conflicts in four-way shuttles. Background Technology

[0002] Four-way shuttle systems, as an emerging type of high-density warehousing equipment, have a huge market and application prospects in the logistics industry due to their high degree of automation, large carrying capacity, and ability to adapt to high-intensity operations. However, with the continuous expansion of the logistics industry and the surge in parcel sorting tasks, the number of shuttles involved in the work has also increased, sometimes requiring dozens of shuttles to work simultaneously. Collisions and deadlocks may occur during the movement of multiple four-way shuttles while performing tasks. The surge in workload makes it impossible to guarantee the operational efficiency and stability of the four-way shuttle system. Simply considering the path planning problem for collision and deadlock prevention of four-way shuttles is no longer sufficient for practical application scenarios.

[0003] In view of this, this invention patent is hereby proposed. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a path planning method and apparatus for avoiding conflicts in four-way shuttles. It proposes a method that combines the assignment problem of multiple starting points and target points with the path planning problem, thereby minimizing the feasible solution as much as possible, ensuring the stability of solving the assignment problem of the starting and ending points, and improving the efficiency of subsequent path planning work.

[0005] Specifically, the following technical solution is adopted:

[0006] A path planning method for avoiding conflicts in a four-way shuttle includes:

[0007] Obtain map information of the four-way shuttle system and rasterize the system map;

[0008] Obtain the current starting point coordinates, target location coordinates, and destination location coordinates of the four-way shuttle, as well as the cargo loading status of the cargo locations in the four-way shuttle system;

[0009] Calculate the Manhattan distance between the starting point and the target location, and between the target location and the end point, and generate the cost distance matrix and cost index matrix for multiple starting points and multiple target points;

[0010] Based on the cost distance matrix and cost sequence matrix, the starting point and the target point are matched. According to the actual loading situation of the cargo location, the cargo location attributes in the system are modified, and the CBS algorithm is used to plan the path for the four-way shuttle.

[0011] As an optional embodiment of the present invention, in a path planning method for avoiding conflicts in a four-way shuttle, the step of matching the starting point with the target point based on the cost distance matrix and the cost index matrix includes:

[0012] The generated cost distance matrix is ​​sorted in descending order, and the cost index matrix is ​​also sorted accordingly.

[0013] In the cost index matrix, select the index coordinate with the shortest distance for each starting point, compare it with the determined index coordinate, repeat the index for downgrading and replacement, and re-compare;

[0014] Match the starting point with the target location and the target location with the destination according to the sequence number.

[0015] As an optional embodiment of the present invention, in a path planning method for avoiding conflicts in a four-way shuttle, the calculation of the Manhattan distance between the starting point and the target storage location, and between the target storage location and the destination, and the generation of a cost distance matrix and a cost index matrix for multiple starting points and multiple target points, includes:

[0016] The starting point position coordinate matrix {(Px1, Py1), (Px2, Py2), ..., (Px n Py n The target point position coordinate matrix is ​​{(Ox1, Oy1), (Ox2, Oy2), ..., (Ox1, Oy1), {( ... n Oy n The starting point is the coordinates of the starting point of the four-way shuttle or the coordinates of the target cargo location, and the target point is the coordinates of the target cargo location or the coordinates of the ending point.

[0017] The Manhattan distance d between the starting point and the target point ij =|Px i -Ox i |+|Py i -Oy i |;

[0018] Generate the distance cost matrix D, and at the same time generate the cost index matrix T between the starting point and the target point.

[0019] As an optional embodiment of the present invention, a path planning method for avoiding conflicts in a four-way shuttle vehicle includes:

[0020] Based on the Manhattan distance d between the starting point and the target point ij The distance cost matrix D is obtained by sorting the data in descending order for each starting point. torted At the same time, the corresponding cost index matrix T is obtained. torted ;

[0021] Guarantee cost index matrix T torted ti1 Uniqueness: If a duplicate value appears in the j-th row, it needs to be padded sequentially in descending order until all the serial numbers are unique.

[0022]

[0023] If t i1 =t j1 , then t j1 =t jm , t i1 ≠t jm ,i∈n,m∈(2,m),i≠j

[0024] According to the plagiarism check results i1 Reorder the coordinate pairs of the target point {(Ox′1, Oy′1), (Ox′2, Oy′2), ..., (Ox′1, Oy′2)}. n Oy′ n )}, and match the starting point with the target point to obtain

[0025] {[(Px1, Py1), (Ox′1, Oy′1)], [(Px2, Py2), (Ox′2, Oy′2)],…,[(Px n Py n ), (Ox′ n Oy′ n )]}.

[0026] As an optional embodiment of the present invention, in a path planning method for avoiding conflicts in a four-way shuttle, the step of obtaining four-way shuttle system map information and rasterizing the system map includes:

[0027] Obtain the four-way shuttle system map information, which includes the length and width of the map, the distribution of cargo locations, the location of the elevator, and the location of the passageway. Grid the four-way shuttle system map based on the system map information.

[0028] As an optional embodiment of the present invention, in a path planning method for avoiding conflicts in a four-way shuttle, the step of obtaining the current starting point coordinates, target cargo location coordinates, ending point coordinates, and cargo loading status of the cargo locations in the four-way shuttle system includes:

[0029] Obtain the input task quantity n, and the current position coordinates of the four-way shuttle, i.e., the starting coordinates {(xs1, ys2), (xs2, ys2), ..., (xs... n ys n The coordinates of the target storage location are {(xo1, yo2), (xo2, yo2), ..., (xo...}. n yo n)}, the coordinates of the endpoint position {(xt1, yt2), (xt2, yt2), ..., (xt n yt n )}, where i∈n;

[0030] Confirm the cargo loading status of the four-way shuttle system. Empty cargo spaces are marked as 0, and loaded cargo spaces are marked as 1.

[0031] This invention also provides a path planning device for avoiding conflicts in a four-way shuttle, comprising:

[0032] The rasterized system map module acquires map information for the four-way shuttle system, creating a rasterized system map.

[0033] The coordinate and cargo information acquisition module acquires the current starting point coordinates, target cargo location coordinates, end point coordinates, and cargo loading status of the four-way shuttle system.

[0034] The matching module calculates the Manhattan distance between the starting point and the target storage location, and between the target storage location and the end point, generates a cost distance matrix and a cost index matrix for multiple starting points and multiple target points, and matches the starting point and the target point based on the cost distance matrix and the cost index matrix.

[0035] The route planning module modifies the cargo location attributes in the system according to the actual cargo location's loading situation and uses the CBS algorithm to plan routes for the four-way shuttle.

[0036] The present invention also provides an electronic device, including a processor and a memory, the memory being used to store a computer-executable program, wherein when the computer program is executed by the processor, the processor executes the aforementioned path planning method for avoiding conflicts in a four-way shuttle.

[0037] The present invention also provides a computer-readable storage medium storing a computer-executable program, which, when executed, implements the aforementioned path planning method for avoiding conflicts in a four-way shuttle.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0039] The present invention provides a path planning method for avoiding conflicts in four-way shuttles, which can find matching targets between the starting point and the ending point that meet the minimum cost distance locally. While ensuring the minimization of feasible solutions as much as possible, it can not only guarantee the stability of solving the assignment problem between the starting point and the ending point, but also improve the efficiency of subsequent path planning work. Attached image description:

[0040] Figure 1 This is a summary diagram of a path planning method for avoiding conflicts in a four-way shuttle vehicle, as disclosed in an embodiment of the present invention.

[0041] Figure 2 This is a flowchart of a path planning method for avoiding conflicts in a four-way shuttle, as disclosed in an embodiment of the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0043] Therefore, the following detailed description of embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely illustrates some embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0044] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0046] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] See Figure 1 As shown, this embodiment of a path planning method for avoiding conflicts in a four-way shuttle includes:

[0048] Obtain map information of the four-way shuttle system and rasterize the system map;

[0049] Obtain the current starting point coordinates, target location coordinates, and destination location coordinates of the four-way shuttle, as well as the cargo loading status of the cargo locations in the four-way shuttle system;

[0050] Calculate the Manhattan distance between the starting point and the target location, and between the target location and the end point, and generate the cost distance matrix and cost index matrix for multiple starting points and multiple target points;

[0051] Based on the cost distance matrix and cost sequence matrix, the starting point and the target point are matched. According to the actual loading situation of the cargo location, the cargo location attributes in the system are modified, and the CBS algorithm is used to plan the path for the four-way shuttle.

[0052] This embodiment provides a path planning method for avoiding conflicts in four-way shuttles. Combining the assignment problem, before planning the path for the four-way shuttle, it obtains the current coordinates of the shuttle's starting point, the target cargo location, the destination location, and the cargo loading status of the cargo locations in the four-way shuttle system. It then calculates the Manhattan distance between the starting point and the target cargo location, and between the target cargo location and the destination, generating a cost distance matrix and a cost index matrix for multiple starting points and multiple target points. Based on the cost distance matrix and the cost index matrix, matching the starting point and the target point can locally find a matching target that minimizes the cost distance between the starting point and the destination. Thus, this embodiment's path planning method for avoiding conflicts in four-way shuttles, combined with the assignment problem, minimizes the feasible solution as much as possible, ensuring the stability of solving the assignment problem for the starting and ending points while improving the efficiency of subsequent path planning work.

[0053] The four-way shuttle route planning algorithm used in this embodiment is Conflict Based Search (CBS). CBS is a common algorithm for centralized solutions and is one of the best achievements in multi-shuttle route planning problems in recent years. CBS can be considered a two-level search algorithm, with path search divided into upper and lower levels. The lower-level search treats multi-shuttle route planning as multiple single-shuttle route planning problems, which can be solved efficiently in a short time. The upper-level search is used to find conflicts between multiple shuttle routes and resolves the discovered path conflicts by creating new constraint tree nodes and adding new constraints, thereby replanning the specified shuttle routes in the lower-level search.

[0054] As an optional implementation of this embodiment, in a path planning method for avoiding conflicts in a four-way shuttle, the matching of the starting point and the target point based on the cost distance matrix and the cost index matrix includes:

[0055] The generated cost distance matrix is ​​sorted in descending order, and the cost index matrix is ​​also sorted accordingly.

[0056] In the cost index matrix, select the index coordinate with the shortest distance for each starting point, compare it with the determined index coordinate, repeat the index for downgrading and replacement, and re-compare;

[0057] Match the starting point with the target location and the target location with the destination according to the sequence number.

[0058] Specifically, in a path planning method for avoiding conflicts in a four-way shuttle in this embodiment, the calculation of the Manhattan distance between the starting point and the target storage location, and between the target storage location and the destination, and the generation of a cost distance matrix and a cost index matrix for multiple starting points and multiple target points include:

[0059] The starting point position coordinate matrix {(Px1, Py1), (Px2, Py2), ..., (Px n Py n The target point position coordinate matrix is ​​{(Ox1, Oy1), (Ox2, Oy2), ..., (Ox1, Oy1), {( ... n Oy n The starting point is the coordinates of the starting point of the four-way shuttle or the coordinates of the target cargo location, and the target point is the coordinates of the target cargo location or the coordinates of the ending point.

[0060] The Manhattan distance d between the starting point and the target point ij =|Px i -Ox i |+|Py i -Oy i |;

[0061] Generate the distance cost matrix D, and at the same time generate the cost index matrix T between the starting point and the target point.

[0062] Furthermore, a path planning method for avoiding conflicts in a four-way shuttle in this embodiment includes:

[0063] Based on the Manhattan distance d between the starting point and the target point ij The distance cost matrix D is obtained by sorting the data in descending order for each starting point. torted At the same time, the corresponding cost index matrix T is obtained. torted ;

[0064] Guarantee cost index matrix T torted t i1 Uniqueness: If a duplicate value appears in the j-th row, it needs to be padded sequentially in descending order until all the serial numbers are unique.

[0065]

[0066] If t i1 =t j1 , then t j1 =t jm , t i1 ≠t jmv i∈n, m∈(2,n), i≠j

[0067] According to the plagiarism check results i1 Reorder the coordinate pairs of the target point {(Ox′1, Oy′1), (Ox′2, Oy′2), ..., (Ox′1, Oy′2)}. n Oy′ n )}, and match the starting point with the target point to obtain

[0068] {[(Px1, Py1), (Ox′1, Oy′1)], [(Px2, Py2), (Ox′2, Oy′2)],…,[(Px n Py n ), (Ox′ n Oy′ n )]}.

[0069] This embodiment of a path planning method for avoiding conflicts in a four-way shuttle involves reordering the coordinate pairs of target points according to the first column of the cost sequence matrix after deduplication, and matching the starting point with the target point.

[0070] As an optional implementation of this embodiment, in the path planning method for avoiding conflicts of a four-way shuttle vehicle described in this embodiment, the step of obtaining the four-way shuttle vehicle system map information and rasterizing the system map includes:

[0071] Obtain the four-way shuttle system map information, which includes the length and width of the map, the distribution of cargo locations, the location of the elevator, and the location of the passageway. Grid the four-way shuttle system map based on the system map information.

[0072] As an optional implementation of this embodiment, the path planning method for avoiding conflicts in a four-way shuttle vehicle described in this embodiment includes obtaining the current starting point coordinates, target cargo location coordinates, ending point coordinates, and cargo loading status of the cargo locations in the four-way shuttle vehicle system, as well as:

[0073] Obtain the input task quantity n, and the current position coordinates of the four-way shuttle, i.e., the starting coordinates {(xs1, ys2), (xs2, ys2), ..., (xs... n ys n The coordinates of the target storage location are {(xo1, yo2), (xo2, yo2), ..., (xo...}. n yo n )}, the coordinates of the endpoint position {(xt1, yt2), (xt2, yt2), ..., (xt n yt n )}, where i∈n;

[0074] Confirm the cargo loading status of the four-way shuttle system. Empty cargo spaces are marked as 0, and loaded cargo spaces are marked as 1.

[0075] Table 1 below shows the time required for the existing CBS algorithm to solve the path for the four-way shuttle and the time required for the integrated algorithm combining the assignment problem in this embodiment to solve the path for the four-way shuttle. Both algorithms use the same four-way shuttle system map as the example, which is 50 units long and 30 units wide. The task assignment scenario is as follows: the coordinates of the start and end points of the four-way shuttle are randomly generated. The number of four-way shuttles is equal to the number of tasks.

[0076] Table 1 Comparison of solution time between CBS algorithm and integrated algorithm combining assignment problem

[0077]

[0078] As shown in Table 1 above, for cases with a larger number of four-way shuttles, the path planning method for avoiding conflicts in four-way shuttles combined with the assignment problem in this embodiment has a shorter solution time and a more obvious algorithm advantage.

[0079] This embodiment also provides a path planning device for avoiding conflicts in a four-way shuttle, including:

[0080] The rasterized system map module acquires map information for the four-way shuttle system, creating a rasterized system map.

[0081] The coordinate and cargo information acquisition module acquires the current starting point coordinates, target cargo location coordinates, end point coordinates, and cargo loading status of the four-way shuttle system.

[0082] The matching module calculates the Manhattan distance between the starting point and the target storage location, and between the target storage location and the end point, generates a cost distance matrix and a cost index matrix for multiple starting points and multiple target points, and matches the starting point and the target point based on the cost distance matrix and the cost index matrix.

[0083] The route planning module modifies the cargo location attributes in the system according to the actual cargo location's loading situation and uses the CBS algorithm to plan routes for the four-way shuttle.

[0084] This embodiment also provides a computer storage medium storing a computer-executable program. When the computer-executable program is executed, it implements a path planning method for avoiding conflicts in a four-way shuttle as described above.

[0085] The computer storage medium described in this embodiment may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0086] This embodiment also provides an electronic device, including a processor and a memory, wherein the memory is used to store a computer-executable program, and when the computer program is executed by the processor, the processor executes the path planning method for avoiding conflict in a four-way shuttle.

[0087] The electronic device is manifested in the form of a general-purpose computing device. It may contain one or more processors that work collaboratively. This invention also does not preclude distributed processing, meaning that processors may be distributed across different physical devices. The electronic device of this invention is not limited to a single entity, but may also be the sum of multiple physical devices.

[0088] The memory stores a computer-executable program, typically machine-readable code. The computer-readable program can be executed by the processor to enable the electronic device to perform the method of the present invention, or at least some steps of the method.

[0089] The memory includes volatile memory, such as random access memory (RAM) and / or cache memory, and may also be non-volatile memory, such as read-only memory (ROM).

[0090] It should be understood that the electronic device of the present invention may also include elements or components not shown in the examples above. For example, some electronic devices also include display units such as a display screen, and some electronic devices also include human-computer interaction elements such as buttons and keyboards. Any electronic device capable of executing a computer-readable program in its memory to implement the method of the present invention or at least some steps of the method can be considered as an electronic device covered by the present invention.

[0091] From the above description of the embodiments, those skilled in the art will readily understand that the present invention can be implemented by hardware capable of executing specific computer programs, such as the system of the present invention, and the electronic processing unit, server, client, mobile phone, control unit, processor, etc. included in the system. The present invention can also be implemented by computer software that executes the methods of the present invention, for example, by control software executed by a microprocessor, electronic control unit, client, server, etc. However, it should be noted that the computer software executing the methods of the present invention is not limited to execution in one or a specific set of hardware entities; it can also be implemented in a distributed manner by unspecified hardware. For computer software, the software product can be stored in a computer-readable storage medium (such as a CD-ROM, USB flash drive, portable hard drive, etc.) or distributed across a network, as long as it enables electronic devices to execute the methods according to the present invention.

[0092] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described herein. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present invention, as well as all technical solutions and improvements that do not depart from the spirit and scope of the invention, are covered within the scope of the claims of the present invention.

Claims

1. A path planning method for avoiding conflicts in a four-way shuttle, characterized in that, include: Obtain map information of the four-way shuttle system and rasterize the system map; Obtain the current starting point coordinates, target location coordinates, and destination location coordinates of the four-way shuttle, as well as the cargo loading status of the cargo locations in the four-way shuttle system; Calculate the Manhattan distance between the starting point and the target location, and between the target location and the end point, and generate the cost distance matrix and cost index matrix for multiple starting points and multiple target points; Based on the cost distance matrix and cost sequence matrix, the starting point and the target point are matched. According to the actual loading situation of the cargo location, the cargo location attributes in the system are modified, and the CBS algorithm is used to plan the path for the four-way shuttle. The matching of the starting point and the target point based on the cost distance matrix and the cost index matrix includes: The generated cost distance matrix is ​​sorted in descending order, and the cost index matrix is ​​also sorted accordingly. In the cost index matrix, select the index coordinate with the shortest distance for each starting point, compare it with the determined index coordinate, repeat the index for downgrading and replacement, and re-compare; Match the starting point with the target storage location, and the target storage location with the destination, according to the sequence number; The calculation of the Manhattan distance between the starting point and the target storage location, and between the target storage location and the end point, to generate the cost distance matrix and cost index matrix for multiple starting points and multiple target points includes: The starting point position coordinate matrix {(Px1, Py1), (Px2, Py2), ..., (Px n Py n The target point position coordinate matrix is ​​{(Ox1, Oy1), (Ox2, Oy2), ..., (Ox1, Oy1), {( ... n Oy n )}, where n is the number of tasks to be acquired, the starting point is the coordinates of the starting point of the four-way shuttle or the coordinates of the target cargo location, and the target point is the coordinates of the target cargo location or the coordinates of the ending point. The Manhattan distance between the starting point and the target point ; Generate the distance cost matrix D, and simultaneously generate the cost index matrix T between the starting point and the target point; The aforementioned path planning method for avoiding conflicts in a four-way shuttle includes: Based on the Manhattan distance between the starting point and the target point The distance cost matrix D is obtained by sorting the data in descending order for each starting point. torted At the same time, the corresponding cost index matrix is ​​obtained. T torted ; Guarantee Cost Index Matrix T torted t i1 Uniqueness: If a duplicate value appears in the j-th row, it needs to be padded sequentially in descending order until all the serial numbers are unique. ； ； According to the plagiarism check results i1 Reorder the coordinate pairs of the target point {(Ox'1, Oy'1), (Ox'2, Oy'2), ..., (Ox'1, Oy'2)}. n Oy' n )}, and match the starting point with the target point to obtain {[(Px1,Py1),(Ox'1,Oy'1)], [(Px2,Py2),(Ox'2,Oy'2)],…, [(Px n ,Py n ),(Ox' n ,Oy' n )]}。 2. The path planning method for avoiding conflicts in a four-way shuttle as described in claim 1, characterized in that, The acquisition of the four-way shuttle system map information, the rasterized system map includes: Obtain the four-way shuttle system map information, which includes the length and width of the map, the distribution of cargo locations, the location of the elevator, and the location of the passageway. Grid the four-way shuttle system map based on the system map information.

3. The path planning method for avoiding conflicts in a four-way shuttle according to claim 1, characterized in that, The acquisition of the current starting point coordinates, target cargo location coordinates, ending point coordinates, and cargo loading status of the four-way shuttle system includes: Obtain the input task quantity n, and the current position coordinates of the four-way shuttle, i.e., the starting coordinates {(xs1, ys1), (xs2, ys2), ..., (xs... n ys n The coordinates of the target storage location are {(xo1, yo2), (xo2, yo2), ..., (xo...}. n yo n )}, the coordinates of the endpoint position {(xt1, yt2), (xt2, yt2), ..., (xt n yt n )}, where i∈n; Confirm the cargo loading status of the four-way shuttle system. Empty cargo spaces are marked as 0, and loaded cargo spaces are marked as 1.

4. A path planning device for avoiding conflicts in a four-way shuttle using the path planning method described in any one of claims 1-3, characterized in that, include: The rasterized system map module acquires map information for the four-way shuttle system, creating a rasterized system map. The coordinate and cargo information acquisition module acquires the current starting point coordinates, target cargo location coordinates, end point coordinates, and cargo loading status of the four-way shuttle system. The matching module calculates the Manhattan distance between the starting point and the target storage location, and between the target storage location and the end point, generates a cost distance matrix and a cost index matrix for multiple starting points and multiple target points, and matches the starting point and the target point based on the cost distance matrix and the cost index matrix. The route planning module modifies the cargo location attributes in the system according to the actual cargo location's loading situation and uses the CBS algorithm to plan routes for the four-way shuttle.

5. An electronic device, characterized in that, It includes a processor and a memory, the memory being used to store a computer-executable program, which, when executed by the processor, performs a path planning method for four-way shuttle conflict avoidance as described in any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The system contains a computer-executable program, which, when executed, implements a path planning method for avoiding conflicts in a four-way shuttle as described in any one of claims 1-3.

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