Path generation method, electronic equipment and storage medium

Abstract

The invention discloses a path generation method, electronic equipment and a storage medium. The method comprises the steps that corresponding initial paths are planned for multiple pieces of mobile equipment; based on the initial paths of the multiple mobile devices, conflict resolution is carried out on the multiple mobile devices, conflict resolution trees corresponding to the multiple mobile devices are obtained, and new nodes are continuously generated for the conflict resolution trees; in response to a conflict resolution failure, selecting an optimal node from each leaf node in the conflict resolution tree based on at least one of a conflict condition and a path cost value of a path set corresponding to each leaf node in the conflict resolution tree; and taking the path set corresponding to the optimal node as a planned path of the plurality of mobile devices. According to the scheme, the path issuing efficiency of the mobile equipment can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-mobile device path planning, and particularly relates to a path generation method, an electronic device and a storage medium. BACKGROUND

[0002] To solve the problem of multi-mobile device path planning, a scheme combining a PBS algorithm (Priority-Based Search) and an RHCR algorithm (Rolling-Horizon Collision Resolution) is often used in the related art to resolve path conflicts of the multi-mobile devices in a limited time domain. When the path planning time exceeds a preset threshold and the path solving is still not completed, the scheme can only continue to issue paths for the mobile devices according to the historical residual paths, which may face the situation of continuous accumulation of time delay in the path execution process of the mobile devices and the residual paths may exceed the path safety time window, thereby significantly reducing the path issuing efficiency. SUMMARY

[0003] The present application provides at least a path generation method, an electronic device and a storage medium, which can improve the path issuing efficiency of the mobile devices.

[0004] The first aspect of the present application provides a path generation method, which comprises: performing path planning on a plurality of mobile devices to obtain initial paths respectively; performing collision resolution on the plurality of mobile devices based on the initial paths of the plurality of mobile devices to obtain a collision resolution tree of the plurality of mobile devices and continuously generate new leaf nodes for the collision resolution tree, wherein the collision resolution tree comprises a plurality of hierarchically connected nodes, each node corresponds to a path set obtained by performing path re-planning on the plurality of mobile devices, an upper node corresponds to two lower nodes, and the two lower nodes are two child nodes with opposite conflict avoidance relationships, and the path set of the lower node is obtained by performing priority constraint on at least two conflicting mobile devices in the path set of the upper node according to a preset priority order; in response to a collision resolution failure, selecting an optimal node from the leaf nodes in the collision resolution tree based on at least one of a conflict situation of the path set corresponding to each leaf node in the collision resolution tree and a path generation cost; and taking the path set corresponding to the optimal node as the planning path of the plurality of mobile devices.

[0005] The optimal node is selected from the leaf nodes in the conflict resolution tree based on at least one of a conflict condition and a path generation value of a path set corresponding to each leaf node in the conflict resolution tree, including: determining a plurality of candidate nodes from the leaf nodes in the conflict resolution tree; and selecting the optimal node from the plurality of candidate nodes; wherein the candidate nodes are determined based on the path generation value corresponding to each leaf node; and / or the optimal node is selected based on at least one of a conflict condition and a path generation value of the plurality of candidate nodes, and the conflict condition includes at least one of a conflict-free duration and a conflict number of the path set corresponding to the leaf node, and the conflict-free duration represents a duration from the start to the first conflict.

[0006] The plurality of candidate nodes are determined from the leaf nodes in the conflict resolution tree, including: selecting a leaf node with the minimum path generation value and a conflict-free duration greater than or equal to a first duration as a reference node; determining a path generation value range based on the path generation value of the reference node; and selecting, as the candidate nodes, the leaf nodes with the path generation value in the path generation value range from the leaf nodes in the conflict resolution tree; and the optimal node is selected from the plurality of candidate nodes, including: selecting, as the optimal node, a first candidate node with a maximum safety time window satisfying a preset time window requirement from the plurality of candidate nodes, wherein the maximum safety time window represents the latest time of the first conflict in each mobile device in the candidate node.

[0007] The preset time window requirement is that the maximum safety time window is the maximum value, and the first candidate node with the maximum safety time window satisfying the preset time window requirement is selected as the optimal node from the plurality of candidate nodes, including: selecting, as the first candidate node, a candidate node with the maximum safety time window satisfying the maximum value from the plurality of candidate nodes; in response to the number of the first candidate nodes being multiple, selecting, as the second candidate node, a second candidate node with the first factor being the minimum from the multiple first candidate nodes; and in response to the number of the second candidate nodes being multiple, selecting, as the optimal node, a second candidate node with the second factor being the minimum from the multiple second candidate nodes, wherein one of the first factor and the second factor is the conflict number, and the other is the path generation value.

[0008] After the path set corresponding to the optimal node is taken as the planning path of the plurality of mobile devices, the method further includes: obtaining, from the planning path of each mobile device, a to-be-downloaded path segment corresponding to each mobile device; finding at least two candidate path segments with the same path point in the to-be-downloaded path segment of each mobile device; taking the first same path point in the at least two candidate path segments as a reference path point, and taking a candidate path segment with a later time sequence of the reference path point as a target path segment; obtaining a local path segment located before the reference path point in the target path segment, and updating the local path segment as the to-be-downloaded path segment of the target path segment corresponding to the mobile device; and downloading the latest to-be-downloaded path segment of each mobile device to each mobile device.

[0009] The method comprises the following steps: based on the initial paths of the plurality of mobile devices, performing conflict resolution on the plurality of mobile devices to obtain a conflict resolution tree of the plurality of mobile devices, and continuously generating new nodes for the conflict resolution tree, wherein the root node of the conflict resolution tree is taken as a selected node, the path set corresponding to the root node is the initial path of the plurality of mobile devices, two conflicting mobile devices are selected from the plurality of mobile devices corresponding to the selected node, two lower-level nodes are generated for the selected node based on the different priority orders of the two conflicting mobile devices, the priority orders of the two conflicting mobile devices are different in the two lower-level nodes, and the path of the mobile device with a low priority corresponding to the lower-level node is obtained based on the constraint planning of the mobile device with a high priority, a new selected node is selected from the two lower-level nodes, and the step of selecting two conflicting mobile devices from the plurality of mobile devices corresponding to the selected node and the subsequent steps are re-executed until it is determined that the conflict resolution fails or succeeds.

[0010] The conflict resolution fails when the conflict resolution time exceeds a time threshold or the latest generated node of the conflict resolution tree cannot plan a path for the mobile device with a low priority, and / or the conflict resolution succeeds when there is a node without conflict in the latest generated node of the conflict resolution tree, and the method further comprises: in response to the conflict resolution success, determining the path set corresponding to the node without conflict as the planned path of the plurality of mobile devices.

[0011] The method further comprises: in response to the current re-planning trigger condition being met, re-executing the steps of planning the initial path corresponding to each mobile device and the subsequent steps, wherein the re-planning trigger condition comprises at least one of the following: the time interval between the last execution of the re-planning reaches a re-planning interval, the number of mobile devices whose corresponding safety time window meets an exhausted condition is greater than a preset number or the proportion of the mobile devices whose corresponding safety time window meets the exhausted condition is greater than a preset proportion, the safety time window of the mobile device is the time sequence corresponding to the first conflict path point in the current path segment of the mobile device, and the exhausted condition is that the difference between the moving time of the mobile device in the current path segment and the safety time window corresponding to the mobile device is less than a preset time, or the distance between the current position or the latest arrived path point of the mobile device in the current path segment and the first conflict path point is less than a preset distance.

[0012] The method further comprises: in response to the mobile device completing a current task and receiving a new task, planning a path for the mobile device based on the new task to obtain the initial path corresponding to the mobile device, and setting the priority of the mobile device to the lowest.

[0013] The second aspect of the present application provides an electronic device, comprising a memory and a processor coupled with each other, the processor being configured to execute program instructions stored in the memory to implement the path generation method in the first aspect.

[0014] The third aspect of the present application provides a computer readable storage medium, having program instructions stored thereon, the program instructions being executed by a processor to implement the path generation method in the first aspect.

[0015] The above scheme, after obtaining the initial paths corresponding to the plurality of mobile devices, the plurality of mobile devices are conflict resolved according to the initial paths of the plurality of mobile devices, and the conflict resolution tree of the plurality of mobile devices is obtained. The conflict resolution tree will continuously generate new nodes. If the conflict resolution fails, at least one of the conflict situation of the path set corresponding to each leaf node in the conflict resolution tree and the path generation value is selected from each leaf node in the conflict resolution tree. The optimal node is selected, and the path set corresponding to the optimal node is taken as the planning path of the plurality of mobile devices. In this way, after the conflict resolution fails, the path set in the leaf node that meets the requirements is output, so that the paths of most mobile devices can still be sequentially issued, thereby improving the path issuing efficiency of the mobile device.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, but not limiting the present application. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the technical solutions of the present application.

[0018] Figure 1 is a flowchart of an embodiment of the path generation method of the present application; Figure 2 is a structural diagram of an embodiment of the conflict resolution tree of the present application; Figure 3 is a framework diagram of an embodiment of the mobile device path issuing of the present application; Figure 4 is a framework diagram of another embodiment of the mobile device path issuing of the present application; Figure 5 is a flowchart of another embodiment of the path generation method of the present application; Figure 6 is a flowchart of another embodiment of the path generation method of the present application; Figure 7 is a flowchart of an embodiment of the path generation device of the present application; Figure 8 is a framework diagram of an embodiment of the electronic device of the present application; Figure 9 This is a schematic diagram of a framework of an embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0019] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0020] In the following description, specific details such as particular system architectures, interfaces, and technologies are presented for illustrative purposes rather than for limiting purposes, in order to provide a thorough understanding of this application.

[0021] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, "many" in this document means two or more. Moreover, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0022] Please see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the path generation method of this application. Specifically, it may include the following steps: Step S110: Calculate the initial paths for each of the multiple mobile devices.

[0023] This application mainly relates to the field of multi-mobile device path planning, and in particular to a method that can still search for a set of fallback paths when multi-mobile device path planning fails, so that the paths of most mobile devices can be distributed in an orderly manner, thereby improving the efficiency of mobile device path distribution and also improving the working efficiency of mobile devices.

[0024] In this application, the mobile device may be an AGV (Automated Guided Vehicle) robot or other similar equipment, and no specific limitation is made here.

[0025] In one implementation, the operation of each mobile device in the entire mobile device management system (hereinafter referred to as the system) may be different. For example, mobile device 1 has run 20% of its planned path, mobile device 2 has run 13% of its planned path, mobile device 3 has run 100% of its planned path, and so on. For mobile devices that have run part of the planned path, the remaining path is their corresponding initial path.

[0026] Furthermore, the system performs a unified replanning every few frames. However, before the next planning frame arrives, some mobile devices may have already completed their current tasks. Therefore, before the next planning frame is issued, independent path planning is performed on the mobile device that has completed its current task and receives a new task, to obtain a newly generated initial path. This avoids path interference with other mobile devices already in operation; therefore, its path issuance priority is set to the lowest, so that when path points conflict with other mobile devices, it can prioritize avoiding other mobile devices and resolve conflicts. Specifically, when a planning frame has not arrived, in response to a mobile device completing its current task and receiving a new task, path planning is performed on the mobile device based on the new task to obtain its corresponding initial path. The mobile device's priority is then set to the lowest to avoid timing conflicts between it and other mobile devices.

[0027] "Mobile device completes current task" means the mobile device finishes executing the current path segment and reaches the task endpoint. "Receives new task" means the system assigns a new task to the mobile device. "Path planning based on new task" means executing a single-machine optimal path planning algorithm, such as the A* algorithm or Dijkstra's algorithm, to generate an unconstrained initial path. "Setting priority to lowest" means that the mobile device's path is delayed during the path assignment phase. For example, in node location comparison, when multiple mobile devices need to pass through the same node, the lowest-priority mobile device waits for the higher-priority mobile device to pass. The environment can be represented using a grid map, and the shortest path can be calculated using the A* algorithm. A safe time window mechanism can be used to divide the mobile device's path into time segments, with lower-priority mobile devices being assigned their paths after the corresponding time segment. Timestamps can be used to mark path segments to achieve dynamic priority adjustment.

[0028] By setting the priority of mobile devices to the lowest level, it is ensured that the path of a mobile device will not conflict with that of a higher-priority mobile device during the path assignment phase. This avoids violating the timing of path planning and thus affecting the path avoidance and coordination of mobile devices. Specifically, when a mobile device completes its current task and receives a new task, it immediately plans a new path but lowers its priority. This reduces the problem of nodes being forced to wait after reaching their destination due to the lack of a subsequent path, which in turn affects the path assignment of other robots, thus improving the success rate of path assignment. The derivation process is as follows: Under the RHCR framework, mobile devices trigger independent planning after completing their tasks. The lowest priority ensures that its path is assigned after the path of a higher-priority AGV, thereby reducing the accumulation of node conflicts, making path assignment smoother, and improving the overall throughput of the system.

[0029] Furthermore, conflicts between mobile devices can be categorized into the following three types: 1. Point conflict: For mobile devices and its path , If two objects move to the same target node at the same time t, they will conflict because they occupy the same node at the same time. This is called a point conflict.

[0030] 2. Edge conflict: For mobile devices , and its path , If, within the time interval [t-1, t], the movement actions of the two involve the same edge (such as moving in opposite directions along the same edge, or occupying the same edge one after the other), an edge conflict occurs.

[0031] 3. Follow-up conflict: For mobile devices , and its path , ,like The plan is to arrive at node v at time t, and The state at time t-1 (such as occupying node v or moving towards node v) will hinder The arrival action forms a following conflict.

[0032] Step S120: Based on the initial paths of multiple mobile devices, perform conflict resolution on the multiple mobile devices to obtain a conflict resolution tree of multiple mobile devices and continuously generate new nodes for the conflict resolution tree.

[0033] The conflict resolution tree includes several hierarchical nodes. Each node corresponds to a path set obtained by replanning multiple mobile devices. Each upper-level node corresponds to at least two lower-level nodes, which are two child nodes with opposite conflict avoidance relationships. The path set of the lower-level nodes is planned based on the path set of the upper-level nodes, and priority constraints are applied to at least two conflicting mobile devices in the path set of the upper-level nodes according to a preset priority order.

[0034] In one implementation, a node is selected at each level of the conflict resolution tree and split to obtain the corresponding child nodes. Specifically, the root node of the conflict resolution tree is selected as the chosen node, where the path set corresponding to the root node is the initial path of multiple mobile devices. Next, two conflicting mobile devices are selected from the conflicting mobile devices corresponding to the chosen node. Based on the different priority rankings of the two conflicting mobile devices, two child nodes are generated for the chosen node. The priority rankings of the two conflicting mobile devices in the two child nodes are different, and the path of the lower-priority conflicting mobile device corresponding to the child node is obtained based on the constraint planning of the higher-priority conflicting mobile device. Then, a new chosen node is selected from the two child nodes, and the steps of selecting two conflicting mobile devices from the conflicting mobile devices corresponding to the chosen node and subsequent steps are repeated until it is determined that conflict resolution has failed or succeeded.

[0035] Please refer to the following: Figure 2 , Figure 2 This is a schematic diagram of the structure of an embodiment of the conflict resolution tree of this application. In this embodiment, the conflict resolution tree can be a binary tree (Constraint Tree, CT). CT node (CTNODE N) represents the node number, conflict number (ConflictNums) represents the number of conflicts, total cost (TotalCost) represents the path cost, and maximum safe time window (MaxSafeHorizon) represents the maximum value among the times when the first conflict occurs in each mobile device. CT node 0 is the root node, which includes the operating status and path status of all mobile devices. CT node 1 and CT node 2 are first-level nodes, CT node 3 and CT node 4 are second-level nodes, CT node 5 and CT node 6 are third-level nodes, and CT node 7 and CT node 8 are fourth-level nodes.

[0036] First, using the root node CT node 0 as the selected node, select two conflicting mobile devices from among the conflicting mobile devices corresponding to CT node 0. and In CT node 1 The priority is higher than (Right now > Therefore, for Zhongyu Within the time window where conflicts exist, lock-and-grid conflict detection is performed step-by-step to address them. The path within the time window is replanned and the path information is updated; for CT node 2, The priority is higher than (Right now > Therefore, for Zhongyu Within the time window where conflicts exist, lock-and-grid conflict detection is performed step-by-step to address them. The paths within the time window are replanned, and the path set information and the last time sequence without conflicts are updated. The time sequence of each mobile device's safe time window is also recorded. Next, the node with the fewer conflicts between CT node 1 and CT node 2 is selected as the selected node for the next splitting step, i.e., CT node 2 is selected as the selected node. From the several conflicting mobile devices corresponding to CT node 2, two conflicting mobile devices are selected. and Among them, CT node 3 nodes The priority is higher than (Right now > Therefore, for Zhongyu Within the time window where conflicts exist, lock-and-grid conflict detection is performed step-by-step to address them. The path within the time window is replanned and the path information is updated; in CT node 4 nodes The priority is higher than (Right now > Therefore, for Zhongyu Within the time window where conflicts exist, lock-and-grid conflict detection is performed step-by-step to address them. The path within the time window is replanned, and the path set information is updated. Between CT node 3 and CT node 4, the node with the fewer conflicts is selected for the next split; that is, CT node 3 is selected. Furthermore, CT node 3 inherits the priority relationship from its parent node; that is, the priority relationship in CT node 3 is... > > This process of splitting continues until a timeout or successful conflict resolution is determined.

[0037] Please see Figure 3 ,mobile device and mobile devices At any moment A conflict occurred, and the mobile device and mobile devices At any moment If a conflict occurs, the last time sequence et of the path set without conflict is: ,mobile device ,mobile device ,mobile device The safe time window timing st are respectively , , The maximum time safety window is .

[0038] A conflict resolution tree can be a binary tree structure for multi-mobile device path planning, where the root node represents the initial set of paths for all mobile devices. In implementation, initial paths can be generated based on map connectivity information and mobile device geometry models. A time-step, time-based grid-locked conflict detection mechanism within a time window can identify point conflicts, edge conflicts, or following conflicts. When a conflict is detected, two conflicting mobile devices from the selected node are randomly chosen and prioritized. For example, the priority order can be set as mobile device A being higher than mobile device B or mobile device B being higher than mobile device A, thus generating two subordinate nodes. The paths of lower-priority mobile devices in the subordinate nodes are implemented through constraint programming, i.e., avoidance constraints are generated based on the paths of higher-priority mobile devices. For example, using the path of mobile device A as a reference, the path of mobile device B needs to be adjusted to avoid conflict.

[0039] When conflict resolution fails, the system automatically selects CT nodes with later last execution times and fewer conflicts, avoiding the decreased coordination caused by path backtracking in traditional methods. Specifically, by using a mechanism that plans the path of low-priority mobile devices based on high-priority constraints, the execution sequence of mobile devices at nodes is reasonably connected. For example, high-priority mobile devices pass through nodes first, and then low-priority mobile devices execute, thereby improving the overall operating efficiency and reliability of multi-mobile device systems in dynamic environments.

[0040] Furthermore, the conditions for conflict resolution failure are that the conflict resolution time exceeds a time threshold or that none of the newly generated nodes in the conflict resolution tree can plan a path for low-priority conflicting mobile devices. That is, after all unexpanded nodes in the conflict resolution tree are expanded, no new child nodes can be generated. The condition for successful conflict resolution is that there are conflict-free nodes among the newly generated nodes in the conflict resolution tree. In addition, in response to successful conflict resolution, the set of paths corresponding to the conflict-free nodes is determined as the planned paths for multiple mobile devices. During the conflict resolution process, each node split in the conflict resolution tree only determines whether a new node has been successfully planned. Then, the newly expanded node is stored in the CT node set, and subsequently, the optimal node is selected from the CT node set. The number of conflicts has the highest weight among nodes; generally, the optimal node has the fewest conflicts. If the number of conflicts for a node is 0, it is considered successful; otherwise, the splitting continues. If all nodes have been expanded and no new nodes are generated, then it means that the conflict resolution tree has no new nodes, and the conflict resolution has failed.

[0041] By defining conflict resolution failure conditions as exceeding a time threshold or being unable to plan paths for low-priority mobile devices, the system can quickly identify failure scenarios, avoiding unnecessary waiting and wasted computing resources, and significantly improving path planning response speed. Upon success, the system directly uses the set of conflict-free node paths as the planned path, omitting additional verification steps, reducing path calculation latency, and enabling orderly path distribution for multiple mobile devices even in congested environments. This effectively reduces the risk of mass congestion caused by accumulated conflicts and improves overall system operating efficiency.

[0042] Step S130: In response to the failure of conflict resolution, select the optimal node from the leaf nodes in the conflict resolution tree based on at least one of the conflict situation and path cost of the path set corresponding to each leaf node in the conflict resolution tree.

[0043] In one embodiment, if the conflict resolution time exceeds a time threshold, the optimal node can be selected from the leaf nodes in the conflict resolution tree based on at least one of the conflict status of the path set corresponding to each leaf node and the path cost. Specifically, refer to steps S131 to S132.

[0044] Step S131: Determine several candidate nodes from the leaf nodes in the conflict resolution tree.

[0045] In one implementation, all leaf nodes in the conflict resolution tree can be used as candidate nodes.

[0046] In another implementation, the leaf node with the smallest path cost and a conflict-free duration greater than or equal to a first duration can be selected from all leaf nodes in the conflict resolution tree as the baseline node. Then, based on the path cost of the baseline node, a path cost range is determined; for example, the path cost of the baseline node multiplied by a suboptimal coefficient can be used as the upper limit of the path cost range, and the path cost of the baseline node can be used as the lower limit of the path cost range. Finally, from all leaf nodes in the conflict resolution tree, leaf nodes whose path cost falls within the path cost range are selected as candidate nodes; for example, leaf nodes whose path cost is less than the baseline node's path cost multiplied by a suboptimal coefficient are selected as candidate nodes.

[0047] A baseline node is a leaf node in the conflict resolution tree with the minimum path cost and no conflict occurring at a time point exceeding the first duration. This time point represents the latest point in time when the path can continue in a conflict-free state. The path cost range is determined by multiplying the path cost of the baseline node by a suboptimal coefficient (e.g., 1.05), used to select relatively optimal candidate nodes. Candidate nodes are the set of leaf nodes whose path costs fall within this range. The suboptimal coefficient is an empirical parameter, its value determined based on historical experience data, or it can be obtained through expert evaluation.

[0048] Step S132: Select the optimal node from several candidate nodes.

[0049] The candidate nodes are determined based on the path cost corresponding to each leaf node.

[0050] In addition, the optimal node is selected based on at least one of the conflict situation corresponding to several candidate nodes and the path cost. The conflict situation includes at least one of the conflict-free duration of the path set corresponding to the leaf node and the number of conflicts. The conflict-free duration represents the time from the beginning of the path set to the first occurrence of a conflict.

[0051] In one embodiment, the first candidate node whose maximum safe time window meets the preset time window requirement can be selected from a number of candidate nodes as the optimal node, wherein the maximum safe time window represents the latest time when the first conflict occurs in each mobile device among the candidate nodes.

[0052] Specifically, the preset time window requirement is that the maximum safe time window is the maximum value. From a number of candidate nodes, the first candidate node whose maximum safe time window satisfies the maximum value is selected. If there are multiple first candidate nodes, the second candidate node with the smallest first factor is selected from these multiple first candidate nodes. If there are multiple second candidate nodes, the optimal node with the smallest second factor is selected from these multiple second candidate nodes. Here, one of the first factor and the second factor is the number of conflicts, and the other is the path cost.

[0053] Please continue reading. Figure 2 The leaf nodes are CT node 1, CT node 4, CT node 5, CT node 7, and CT node 8. Among these leaf nodes, CT node 1 has the smallest total cost, therefore CT node 1 is the baseline node. Then, the path cost of CT node 1 is calculated by multiplying the suboptimal coefficient (1.1), i.e., 505 × 1.1 = 555.5, so the path cost range is (505, 555.5). The total cost of CT nodes 4, 5, 7, and 8 all fall within this path cost range, so the node with the largest maximum safe time window is further selected. The maximum safe time windows of CT nodes 4, 5, 7, and 8 are all 13. Therefore, further filtering is needed to select the node with the smallest number of conflicts. At this point, the number of conflicts for CT node 4 is 7, and the number of conflicts for CT nodes 5, 7, and 8 is 5. Therefore, further filtering is needed for CT nodes 5, 7, and 8 to select the node with the smallest total cost. At this point, among CT nodes 5, 7, and 8, CT node 7 has the smallest value (i.e., 515), therefore CT node 7 is the optimal node.

[0054] Conflict-free duration refers to the last point in time when no conflict occurs on the path, used to measure the stability of the path in the time dimension; the number of conflicts refers to the statistical number of conflict events recorded in the CT node, such as the total number of point conflicts, edge conflicts, or following conflicts counted by the conflict detection algorithm; the path cost refers to the total movement cost of the path, such as the comprehensive cost calculated based on AGV movement distance or time weighting. Conflict-free duration can be represented using timestamp values, such as time numbers in milliseconds; the number of conflicts can be directly obtained by parsing the conflict set in the CT node; the path cost can be calculated by accumulating the total movement steps of the path, such as the sum of the movement distances between all adjacent nodes. In implementation, each node of the CT tree stores these parameters, and sorting is prioritized based on the maximum safe time window, followed by the number of conflicts, and finally by the path cost, thereby achieving efficient filtering.

[0055] By prioritizing nodes with the largest safe time window, the system ensures that later nodes in the path are conflict-free in the time series, avoiding redundancy in subsequent path planning caused by early conflicts. By selecting nodes with the fewest conflicts, the system reduces the probability of potential conflicts in the path, improving path coordination. Furthermore, by selecting nodes with the lowest path cost, the system optimizes path movement efficiency and reduces unnecessary detours. This combination of features allows the system to extract high-quality paths directly from the leaf nodes of the CT (Computer-Based Path) tree without backtracking or replanning in scenarios where the PBS (Problem-Based Path) solution fails. This ensures that most mobile device paths are distributed in an orderly manner, significantly improving the path distribution efficiency of multiple systems in industrial scenarios and resolving the problem of group congestion caused by accumulated conflicts.

[0056] Step S140: Use the set of paths corresponding to the optimal node as the planned paths for multiple mobile devices.

[0057] In one implementation, the set of paths corresponding to the optimal node can be used as the planned paths for multiple mobile devices. There may still be conflicts in the set of paths corresponding to the optimal node, but at this time the system can maintain the orderly distribution of paths to most mobile devices.

[0058] After using the set of paths corresponding to the optimal node as the planned paths for multiple mobile devices, the paths for each mobile device are not distributed by sending all paths directly, but rather in segments. The paths corresponding to each mobile device are divided into multiple segments. However, conflicts may still exist within these segmented paths, so further segmentation is necessary to resolve these conflicts.

[0059] Specifically, the planned paths for each mobile device are retrieved, and the corresponding path segments to be delivered are obtained. Among these path segments, at least two candidate path segments with the same path point are identified. The first shared path point among these two candidate path segments is used as the reference path point, and the candidate path segment following the reference path point is used as the target path segment. Local path segments preceding the reference path point within the target path segment are retrieved and updated to reflect the target path segment's corresponding mobile device's path segment to be delivered. Finally, the latest path segments to be delivered to each mobile device are delivered to that mobile device.

[0060] Please refer to the following: Figure 4 ,mobile device and The path segment to be distributed is to The path of time, on mobile devices and Within the path segment to be distributed, there are two identical path points, E and F. Since path point E is the first identical path point, it is used as the reference path point. (On mobile devices...) The timing of the reference path point E is as follows ,mobile device The timing of the reference path point E is as follows Therefore, it can be seen that mobile devices Compared to mobile devices It will pass through reference waypoint E earlier. Therefore, the mobile device will move at reference waypoint E. The right-of-way is higher than that of mobile devices. Mobile devices need to be tested. The path segment is further divided to allow the mobile device to... The path segments are divided into A→B→C→D and E→F, and the path segment A→B→C→D is used as the path segment to be sent to the mobile device. Simultaneously, the path segment G→H→E→F→I→J will be used as the path segment to be sent to the mobile device. On mobile devices After passing through path point F, the path segment E→F is then sent to the mobile device. .

[0061] By dynamically adjusting the path segment delivery order, this method effectively avoids following conflicts among multiple mobile devices at path points, ensuring that high-priority mobile devices pass through key nodes first, while low-priority mobile devices receive their paths in subsequent time sequences, thus significantly improving path delivery efficiency. In industrial scenarios where the PBS algorithm fails, this method maintains the orderly execution of most mobile device paths, reduces path delivery delays and system congestion caused by accumulated conflicts, and improves the overall operating efficiency and stability of multi-mobile device systems.

[0062] In one embodiment, in response to the current fulfillment of the replanning trigger condition, step S110 and subsequent steps are re-executed. The replanning trigger condition includes at least one of the following: the time since the last replanning execution reaches the replanning interval; the number of mobile devices whose corresponding safe time windows meet the exhaustion condition is greater than a preset number, or the proportion of mobile devices whose safe time windows meet the exhaustion condition is greater than a preset proportion; the safe time window of a mobile device is the timing corresponding to the first conflicting path point in the current path segment of the mobile device; the exhaustion condition is that the difference between the movement time of the mobile device in the current path segment and the corresponding safe time window of the mobile device is less than a preset time, or the distance between the current position or the latest reached path point of the mobile device in the current path segment and the first conflicting path point is less than a preset distance.

[0063] In addition, the replanning trigger conditions can be divided into two cases: one is that some mobile devices complete the current task and have no new tasks, so a separate path can be planned for them and the path cost can be reduced to the minimum; the other is to advance the planning frame and perform global replanning, such as when the above replanning conditions are met.

[0064] The safe time window is defined as the time point corresponding to the first conflict path point in the current path segment of the mobile device, used to identify the earliest possible conflict moment during path execution. The exhaustion condition determines the path safety status by calculating in real-time the difference between the mobile device's movement time in the current path segment and the safe time window, or the distance between the mobile device's current position and the first conflict path point. The system continuously monitors the path execution progress of each mobile device, dynamically updating the movement time, safe time window, and distance parameters to achieve accurate determination of the triggering condition. An example could be a preset time of 5 seconds, a preset distance of 3 meters, a replanning interval of 20 seconds, a preset number of 2 mobile devices, and a preset percentage of 10%; alternatively, a time difference of less than 3 seconds or a distance of less than 2 meters could be used as the threshold parameters for the exhaustion condition.

[0065] By setting replanning trigger conditions, replanning is triggered in advance when the number or proportion of mobile devices meeting the exhaustion condition reaches a threshold, effectively avoiding the accumulation of conflicts and path congestion caused by the exhaustion of the safety time window. This mechanism ensures that the system responds to changes in path execution status in real time in complex industrial scenarios, reduces mobile device waiting time and path replanning delays, significantly improves the path distribution efficiency and collaborative execution capability of multi-mobile device systems, thereby enhancing the stability and throughput of overall logistics scheduling.

[0066] Please refer to the following: Figure 5 , Figure 5This is a flowchart illustrating another embodiment of the path generation method of this application. In this embodiment, the mobile device is an AGV. First, the location information and corresponding initial path information of all AGVs are refreshed in real time. Then, it is determined whether the planning time has been reached or whether the replanning trigger condition is met. If the above judgment condition is not met, it is further determined whether there is an AGV that has completed the current task and received a new task. If there is, AGV independent path planning is performed on the AGV, and the priority of the AGV is set to the lowest. If there is no AGV, at least two candidate path segments with the same path point are found in the path segments to be issued by each AGV. Then, the first same path point in the at least two candidate path segments is taken as the reference path point, and the candidate path segment with the later time sequence of the reference path point is taken as the target path segment, and the target path segment is segmented.

[0067] If the planning time or replanning trigger condition is met, the current position information and initial path information of the AGVs that meet the requirements are used as input data for the PBS algorithm to resolve conflicts among multiple AGVs, resulting in a conflict resolution tree for multiple AGVs. Next, it is determined whether the conflict resolution was successful. If successful, the set of paths corresponding to the conflict-free nodes is determined as the planned paths for multiple AGVs. For each AGV's pending path segment, at least two candidate path segments with the same path point are identified. Then, the first identical path point among the at least two candidate path segments is used as the reference path point, and the candidate path segment with the later time sequence of the reference path point is used as the target path segment, which is then segmented.

[0068] If conflict resolution fails, the optimal node is selected from the conflict resolution tree, and the safe time window for each AGV is recorded. Path sequences within the safe time window are conflict-free, and segmentation is performed according to priority. Then, for each AGV's pending path segments, at least two candidate path segments with the same path point are identified. Next, the first shared path point among these two candidate path segments is used as the reference path point, and the candidate path segment with the later time sequence of the reference path point is used as the target path segment. The target path segment is then segmented, and a lock-grid safety check is performed on the segmented pending path segments. After the lock-grid safety check, the pending path segments are sent in real-time. Afterward, the safety time window exhaustion status of each AGV is checked. If the safety time window exhaustion condition is met, an early replanning decision is made. Finally, the position information and corresponding initial path information of all AGVs are refreshed.

[0069] Please see Figure 6 , Figure 6 This is a flowchart illustrating another embodiment of the path generation method of this application. Specifically, it may include the following steps: Step S610: Calculate the initial paths for the multiple mobile devices.

[0070] This step is the same as step S110 above, and will not be repeated here.

[0071] Step S620: Based on the initial paths of multiple mobile devices, perform conflict resolution on the multiple mobile devices to obtain a conflict resolution tree of multiple mobile devices and continuously generate new nodes for the conflict resolution tree.

[0072] This step is the same as step S120 above, and will not be repeated here.

[0073] Step S630: In response to the failure of conflict resolution, select the optimal node from the leaf nodes in the conflict resolution tree based on at least one of the conflict situation and path cost of the path set corresponding to each leaf node in the conflict resolution tree.

[0074] This step is the same as step S130 above, and will not be repeated here.

[0075] Step S640: In response to the number of conflicts in the optimal node meeting the preset requirements, the set of paths corresponding to the optimal node is used as the planned paths for multiple mobile devices.

[0076] In one implementation, to avoid an excessive number of conflicts in the selected optimal node, even if the paths from the optimal node are combined and distributed to each mobile device, the improvement in the overall mobile device path distribution efficiency and operational efficiency of the system is not significant. Therefore, further confirmation of the optimal node is necessary. Specifically, a preset requirement can be set to the number of conflicts in the optimal node being less than a conflict threshold. Only when the number of conflicts in the selected optimal node is less than the conflict threshold will the path set corresponding to the optimal node be used as the planned path for multiple mobile devices; otherwise, it will wait for the next path planning iteration.

[0077] In this application, global planning is performed every few frames using the PBS algorithm. After planning, path distribution is based on the PBS algorithm's planning timeline, with earlier paths distributed first and later paths distributed later. If a mobile device is involved in single-machine planning, its priority is the lowest. Furthermore, if the distribution node of a mobile device exceeds the safe time window (e.g., the default is 20 frames, but fallback paths are dynamically assigned safe time windows based on robot conflict moments), the path exceeding the safe time window can still be distributed, but with the lowest priority, to prevent the distribution of paths from mobile devices with higher timelines.

[0078] In this application, the CT nodes with earlier conflict times are extracted during the conflict resolution tree iteration process of the PBS algorithm, so that the planned paths of mobile devices with earlier times are prioritized. An independent safety time window is allocated to each mobile device for path splitting and segmentation after comparing the node positions with other mobile devices, ensuring that most mobile devices can still achieve orderly path distribution even in the timeout state.

[0079] Furthermore, this application develops an advance planning mechanism (i.e., replanning trigger condition) within the RHCR framework. This mechanism monitors path delivery status in real time and counts the number of mobile devices that exceed the safety time window threshold due to premature exhaustion of the safety time window or excessively rapid path delivery. When the number reaches a preset threshold or the proportion reaches a preset proportion, the PBS algorithm is triggered for replanning. This reduces the efficiency of segment path delivery caused by accumulated conflicts. Simultaneously, for mobile devices that have completed their tasks but are stuck because the newly planned path has not yet arrived, single-machine path planning is triggered to reduce periods of idling and waiting.

[0080] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0081] Please see Figure 7 , Figure 7 This is a flowchart illustrating an embodiment of the path generation device 700 of this application. The path generation device 700 includes an initial path planning module 710, a conflict resolution module 720, a filtering module 730, and a path output module 740. The initial path planning module 710 executes initial path planning for multiple mobile devices. The conflict resolution module 720 executes conflict resolution for the multiple mobile devices based on the initial paths, obtaining a conflict resolution tree for the multiple mobile devices. The conflict resolution tree includes several hierarchically connected nodes, each node corresponding to a path set obtained by replanning the paths for multiple mobile devices. Each upper-level node corresponds to two lower-level nodes, which are two child nodes with opposite conflict avoidance relationships. The path set of the lower-level nodes is planned based on the path set of the upper-level nodes, and priority constraints are applied to at least two conflicting mobile devices in the path set of the upper-level nodes according to a preset priority order. In response to a conflict resolution failure, the filtering module 730 selects the optimal node from the leaf nodes of the conflict resolution tree based on at least one of the conflict status and path cost of the path set corresponding to each leaf node. The path output module 740 then uses the path set corresponding to the optimal node as the planned path for multiple mobile devices.

[0082] In one embodiment, the filtering module 730 performs the following: selecting the optimal node from the leaf nodes of the conflict resolution tree based on at least one of the conflict situation and path cost of the path set corresponding to each leaf node in the conflict resolution tree. This includes: determining a number of candidate nodes from the leaf nodes of the conflict resolution tree; selecting the optimal node from the number of candidate nodes; wherein the candidate nodes are determined based on the path cost of each leaf node; and / or, the optimal node is selected based on at least one of the conflict situation and path cost of the candidate nodes. The conflict situation includes at least one of the conflict-free duration and the number of conflicts of the path set corresponding to the leaf node. The conflict-free duration characterizes the time from the start of the path set to the first occurrence of a conflict.

[0083] In one embodiment, the screening module 730 performs the following steps: determining a number of candidate nodes from the leaf nodes in the conflict resolution tree, including: selecting the leaf node with the smallest path cost and a conflict-free duration greater than or equal to a first duration as a baseline node; determining the path cost range based on the path cost of the baseline node; selecting leaf nodes from the leaf nodes in the conflict resolution tree whose path cost is within the path cost range as candidate nodes; and selecting the first candidate node from the number of candidate nodes whose maximum safe time window meets the preset time window requirement as the optimal node, wherein the maximum safe time window represents the latest time when the first conflict occurs in each mobile device among the candidate nodes.

[0084] In one embodiment, the screening module 730 performs a preset time window requirement, where the maximum safe time window is the maximum value. From a plurality of candidate nodes, it selects a first candidate node whose maximum safe time window meets the preset time window requirement as the optimal node. This includes: selecting a first candidate node whose maximum safe time window meets the maximum value from a plurality of candidate nodes; in response to a plurality of first candidate nodes, selecting a second candidate node with the smallest first factor from a plurality of first candidate nodes; and in response to a plurality of second candidate nodes, selecting the optimal node with the smallest second factor from a plurality of second candidate nodes. The first factor and the second factor are, respectively, the number of conflicts and the path cost.

[0085] In one embodiment, after the path output module 740 performs the following steps after using the path set corresponding to the optimal node as the planned path for multiple mobile devices: obtaining the path segment to be sent for each mobile device from the planned path for each mobile device; finding at least two candidate path segments with the same path point in the path segments to be sent for each mobile device; using the first common path point in the at least two candidate path segments as the reference path point, and using the candidate path segment with the later time sequence of the reference path point as the target path segment; obtaining the local path segment in the target path segment that is before the reference path point, and updating the local path segment to the path segment to be sent for the mobile device corresponding to the target path segment; and sending the latest path segment to be sent for each mobile device to each mobile device.

[0086] In one embodiment, the conflict resolution module 720 executes initial paths based on multiple mobile devices, resolves conflicts among the multiple mobile devices, obtains a conflict resolution tree for the multiple mobile devices, and continuously generates new nodes for the conflict resolution tree. This includes: selecting the root node of the conflict resolution tree as the selected node, where the path set corresponding to the root node is the initial path for the multiple mobile devices; selecting two conflicting mobile devices from among the conflicting mobile devices corresponding to the selected node, generating two subordinate nodes for the selected node based on the different priority rankings of the two conflicting mobile devices, where the priority rankings of the two conflicting mobile devices in the two subordinate nodes are different, and the path of the lower-priority conflicting mobile device corresponding to the subordinate node is obtained based on the constraint planning of the higher-priority conflicting mobile device; selecting a new selected node from the two subordinate nodes, and re-executing the steps of selecting two conflicting mobile devices from among the conflicting mobile devices corresponding to the selected node and subsequent steps, until it is determined that the conflict resolution has failed or succeeded.

[0087] In one embodiment, the conflict resolution module 720 fails to resolve conflicts if the conflict resolution time exceeds a time threshold or if the newly generated nodes in the conflict resolution tree are unable to plan paths for low-priority conflicting mobile devices; and / or, the conflict resolution succeeds if there are conflict-free nodes among the newly generated nodes in the conflict resolution tree. The method further includes: in response to successful conflict resolution, determining the set of paths corresponding to the conflict-free nodes as the planned paths for multiple mobile devices.

[0088] In one embodiment, the initial path planning module 710 execution method further includes: in response to the current fulfillment of the replanning trigger condition, re-executing the initial paths and subsequent steps corresponding to the multiple mobile devices; wherein, the replanning trigger condition includes at least one of the following: the time since the last replanning execution reaches the replanning interval; the number of mobile devices whose corresponding safe time window meets the exhaustion condition is greater than a preset number or the proportion of mobile devices whose safe time window meets the exhaustion condition is greater than a preset proportion; the safe time window of the mobile device is the timing corresponding to the first conflicting path point in the current path segment of the mobile device, and the exhaustion condition is that the difference between the movement time of the mobile device in the current path segment and the safe time window corresponding to the mobile device is less than a preset time, or the distance between the current position or the latest reached path point of the mobile device in the current path segment and the first conflicting path point is less than a preset distance.

[0089] In one embodiment, the initial path planning module 710 performs initial path planning for multiple mobile devices, including: in response to a mobile device completing its current task and receiving a new task, performing path planning for the mobile device based on the new task, obtaining the initial path corresponding to the mobile device, and setting the priority of the mobile device to the lowest.

[0090] Please see Figure 8 , Figure 8 This is a schematic diagram of a framework of an embodiment of the electronic device 80 of this application. The electronic device 80 includes a memory 81 and a processor 82 coupled to each other. The processor 82 is used to execute program instructions stored in the memory 81 to implement the steps in any of the above-described path generation method embodiments. In a specific implementation scenario, the electronic device 80 may include, but is not limited to, a microcomputer or a server. In addition, the electronic device 80 may also include mobile devices such as laptops and tablets, which are not limited here.

[0091] Specifically, processor 82 controls itself and memory 81 to implement the steps in any of the above-described path generation method embodiments. Processor 82 can also be referred to as a CPU (Central Processing Unit). Processor 82 may be an integrated circuit chip with signal processing capabilities. Processor 82 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. Furthermore, processor 82 can be implemented using integrated circuit chips.

[0092] Please see Figure 9 , Figure 9 This is a schematic diagram of a framework of an embodiment of the computer-readable storage medium 90 of this application. The computer-readable storage medium 90 stores program instructions 901 that can be executed by a processor. The program instructions 901 are used to implement the steps in any of the above-described path generation method embodiments.

[0093] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0094] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0096] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0097] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A path generation method, characterized in that, include: Develop initial paths for multiple mobile devices; Based on the initial paths of the multiple mobile devices, conflict resolution is performed on the multiple mobile devices to obtain a conflict resolution tree for the multiple mobile devices, and new nodes are continuously generated for the conflict resolution tree. The conflict resolution tree includes several hierarchically connected nodes. Each node corresponds to a path set obtained by replanning the paths of the multiple mobile devices. The upper-level node corresponds to two lower-level nodes. The two lower-level nodes are two child nodes with opposite conflict avoidance relationships. The path set of the lower-level nodes is planned based on the path set of the upper-level nodes, and priority constraints are applied to at least two conflicting mobile devices in the path set of the upper-level nodes according to a preset priority order. In response to the failure of conflict resolution, the optimal node is selected from each leaf node of the conflict resolution tree based on at least one of the conflict situation and path cost of the path set corresponding to each leaf node in the conflict resolution tree. The set of paths corresponding to the optimal node is used as the planned paths for the multiple mobile devices.

2. The method according to claim 1, characterized in that, The step of selecting the optimal node from the leaf nodes of the conflict resolution tree based on at least one of the conflict situation and path cost of the path set corresponding to each leaf node in the conflict resolution tree includes: Several candidate nodes are determined from each leaf node in the conflict resolution tree; Select the optimal node from the candidate nodes; Wherein, the candidate nodes are determined based on the path cost value corresponding to each leaf node; and / or, the optimal node is selected based on at least one of the conflict situation and path cost value corresponding to the plurality of candidate nodes, wherein the conflict situation includes at least one of the conflict-free duration and the number of conflicts of the path set corresponding to the leaf node, and the conflict-free duration characterizes the duration of the path set from the beginning to the first occurrence of conflict.

3. The method according to claim 2, characterized in that, The step of determining several candidate nodes from each leaf node in the conflict resolution tree includes: The leaf node with the minimum path cost and a conflict-free duration greater than or equal to the first duration is selected as the reference node. Based on the path cost value of the benchmark node, determine the range of path cost value; From the leaf nodes in the conflict resolution tree, select the leaf node whose path cost is within the path cost range as the candidate node; The step of selecting the optimal node from the plurality of candidate nodes includes: From the candidate nodes, the first candidate node whose maximum safe time window meets the preset time window requirement is selected as the optimal node, wherein the maximum safe time window represents the latest time when the first conflict occurs in each of the mobile devices in the candidate nodes.

4. The method according to claim 3, characterized in that, The preset time window requirement is that the maximum safe time window is the maximum value. Selecting the first candidate node from the plurality of candidate nodes whose maximum safe time window satisfies the preset time window requirement as the optimal node includes: From the plurality of candidate nodes, select the first candidate node whose maximum safe time window satisfies the maximum value; In response to the fact that there are multiple first candidate nodes, the second candidate node with the smallest first factor is selected from the multiple first candidate nodes; In response to the fact that there are multiple second candidate nodes, the optimal node with the smallest second factor is selected from the multiple second candidate nodes, wherein one of the first factor and the second factor is the number of conflicts and the other is the path cost.

5. The method according to claim 1, characterized in that, After using the set of paths corresponding to the optimal node as the planned paths for the multiple mobile devices, the method further includes: Obtain the path segment to be sent for each mobile device from the planned path of each mobile device; In the path segments to be delivered by each of the aforementioned mobile devices, at least two candidate path segments with the same path points are identified. The first identical path point among the at least two candidate path segments is taken as the reference path point, and the candidate path segment with the reference path point in a later time sequence is taken as the target path segment. Obtain the local path segment in the target path segment that is located before the reference path point, and update the local path segment to the path segment to be sent by the mobile device corresponding to the target path segment; The latest path segment to be sent to each of the mobile devices is sent to each of the mobile devices.

6. The method according to claim 1, characterized in that, The process of resolving conflicts among the multiple mobile devices based on their initial paths, obtaining a conflict resolution tree for the multiple mobile devices, and continuously generating new nodes for the conflict resolution tree includes: The root node of the conflict resolution tree is selected as the selected node, wherein the set of paths corresponding to the root node is the initial path of the multiple mobile devices; Two conflicting mobile devices are selected from among the conflicting mobile devices corresponding to the selected node. Based on the different priority rankings of the two conflicting mobile devices, two subordinate nodes are generated for the selected node. Among the two subordinate nodes, the priority rankings of the two conflicting mobile devices are different. The path of the lower-priority conflicting mobile device corresponding to the subordinate node is obtained based on the constraint planning of the higher-priority conflicting mobile device. From the two subordinate nodes, select a new selected node, and re-execute the steps of selecting two conflicting mobile devices from the conflicting mobile devices corresponding to the selected node and subsequent steps until it is determined that the conflict resolution has failed or the conflict resolution has succeeded.

7. The method according to any one of claims 1 to 6, characterized in that, The conditions for the failure of conflict resolution are that the conflict resolution time exceeds the time threshold or the newly generated nodes of the conflict resolution tree are unable to plan a path for low-priority conflicting mobile devices. And / or, the condition for successful conflict resolution is that there are conflict-free nodes in the latest generated nodes of the conflict resolution tree, and the method further includes: In response to the successful resolution of the conflict, the set of paths corresponding to the conflict-free nodes is determined as the planned paths for the multiple mobile devices.

8. The method according to claim 1, characterized in that, The method further includes: In response to the current fulfillment of the replanning trigger condition, the initial paths and subsequent steps corresponding to the planning of multiple mobile devices are re-executed; The replanning triggering condition includes at least one of the following: the time since the last replanning execution reaches the replanning interval; the number of mobile devices whose corresponding safe time window meets the exhaustion condition is greater than a preset number, or the proportion of mobile devices whose safe time window meets the exhaustion condition is greater than a preset proportion; the safe time window of the mobile device is the time sequence corresponding to the first conflicting path point in the current path segment of the mobile device, and the exhaustion condition is that the difference between the movement time of the mobile device in the current path segment and the safe time window corresponding to the mobile device is less than a preset time, or the distance between the current position or the latest reached path point of the mobile device in the current path segment and the first conflicting path point is less than the preset distance.

9. The method according to claim 1, characterized in that, The initial paths planned for multiple mobile devices include: In response to the mobile device completing its current task and receiving a new task, a path is planned for the mobile device based on the new task to obtain an initial path for the mobile device, and the priority of the mobile device is set to the lowest.

10. An electronic device, characterized in that, It includes a memory and a processor coupled to each other, the processor being used to execute program instructions stored in the memory to implement the path generation method according to any one of claims 1 to 9.

11. A computer-readable storage medium having program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, they implement the path generation method according to any one of claims 1 to 9.

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