The invention belongs to the technical field of path planning, and particularly provides a multi-agent path
planning method based on an attention mechanism, and the method comprises the following steps: S1, selecting path planning training data, and constructing a
training set; s2, respectively designing an
encoder and a decoder by using an attention mechanism, and constructing a path planning model based on an
encoder-decoder structure; s3, designing a
reinforcement learning framework based on a
rollback reference, and constructing a multi-agent task-oriented reward function; and S4, inputting the
data set obtained in the S1 into the path planning model constructed in the S2, training the path planning model by using the
reinforcement learning framework designed in the S3, and applying the trained model to multi-agent autonomous path planning. According to the multi-agent path
planning method, node high-dimensional feature representation is obtained through an
encoder, probability distribution is calculated through a decoder, the model is trained through a
reinforcement learning framework combined with a
rollback reference, the multi-agent path planning cost is reduced, and the path planning quality is improved.