Multi-robot cooperative path planning method for complex environment
Through the improved A* algorithm and global priority allocation and conflict classification methods, conflict problems in complex environments in multi-robot path planning are solved, and the efficiency and success rate of the algorithm are improved.
CN119690080AActive Publication Date: 2025-03-25BEIJING UNIV OF TECH
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Patent Information
- Application Number
- CN202411845662.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-13
- Publication Date
- 2025-03-25
- Estimated Expiration
- 2044-12-13
AI Technical Summary
Technical Problem
The existing multi-robot collaborative path planning algorithms are prone to blocking passes in complex environments, difficult to effectively resolve conflicts between robots, and are prone to falling into a dead cycle.
Method used
The improved A* algorithm is used to plan the shortest path individually for each robot, and conflict resolution is carried out through the methods of global priority allocation and conflict classification, and key conflict resolution is resolved using local priority game and path re-planning.
Benefits of technology
It effectively solves the problems of road occupation, blocking, and oncoming collision in multi-robot path planning, improves the efficiency and success rate of the algorithm, and avoids the dead cycle.
✦ Generated by Eureka AI based on patent content.
Abstract
The invention belongs to a path planning method, and particularly relates to a multi-robot cooperative path planning method for a complex environment. The method comprises a preparation step and a subsequent execution step: step 1, independently planning a shortest path for each robot; 2, carrying out global priority distribution on the robot; 3, introducing a robot and carrying out conflict resolution; 4, judging conflicts, and classifying and resolving the conflicts; step 5, performing priority distribution during key conflicts; step 6, solving key conflicts; and 7, storing and displaying the path. Compared with the prior art, the method has the beneficial effects that the conflict resolution method based on conflict classification and priority game is provided on the basis of the CA * algorithm, the problems of road occupation, blocking, head-on collision and the like in multi-robot path planning can be effectively solved, and the efficiency of the algorithm is effectively improved on the basis of solving the problems.
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