This invention discloses a collaborative scheduling and path
planning method for warehousing and logistics
robot clusters, relating to the field of path coordination and planning technology. When constructing a directed topology graph, this method records the passage cost value and initializes a second-level occupancy
record table to achieve accurate querying of the number of nodes occupied per second. When assigning tasks, if the starting node is full, the start is delayed to eliminate congestion at the starting point. During
path generation, nodes are filtered based on their passage cost value, and nodes that are full at the
arrival time are excluded to avoid leading to congestion points. When updating the
record table, the
robot number is entered at the
arrival time, quantifying the occupancy into second-
level data. During congestion analysis, the capacity of nodes with density ratios exceeding a threshold is temporarily reduced to shrink the number of occupants in advance. During traffic
heat analysis, the passage cost value of the edges traversed is increased according to the
robot type and loading level, so that subsequent paths bypass heavily loaded edges. During conflict resolution, temporary capacity is used to determine conflicts, and paths are regenerated according to the adjusted passage cost value, staggering spatiotemporal trajectories to reduce overlap.