Multi-agent path planning aims at solving the problem of multi-agent generating collision free paths in the same workspace. It is a key supporting technology for agents to work without humanization. Based on the idea of backtracking and adaptive local obstacle avoidance strategy, a two-stage multi-agent path planning algorithm is proposed. In the global path planning stage, the improved RRT* algorithm (Back Tracking RRT* (BT-RRT*) based on the idea of backtracking reduces invalid parent nodes and ensures that each agent generates an optimized collision free path. In the cooperative obstacle avoidance stage, the agent formulates local obstacle avoidance strategy according to its own task priority, avoiding dynamic obstacles and other agents. Experimental results show that the algorithm can find the optimal path successfully and reduce the obstacle avoidance time.
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李庆华,王佳慧,李海明,等. 一种双阶段多智能体路径规划算法[J]. 科学技术与工程, 2021, 21(22): 9425-9431. Li Qinghua, Wang Jiahui, Li Haiming, et al. A Two-stage Multi-agent Path Planning Algorithm[J]. Science Technology and Engineering,2021,21(22):9425-9431.