Overview of multi-agent central collaborative path planning
Collaborative path planning is a key technology for achieving multi-agent collaborative work,which requires that there is no collision between agents before moving to the target,while also meeting the requirements of planning trajectory smoothness and planning time effectiveness.On the basis of the problem of multi-agent collaborative planning,the central collaborative path planning algorithms were divided into A*-based search,conflict-based search,safe interval path planning,increasing cost tree search,protocol-based and other algorithms,and then the principles of each algorithm were explained briefly.It was found that conflict-search-based collaborative path planning algorithms became the mainstream algorithm due to their advantages in computational quality and speed,and improving them became a current research hotspot.The adaptability of single-type algorithm to different agent scales and scene was limited.The integration of multiple types of algorithms and the intervention of intelligent methods would become the development trend of multi-agent collaborative planning in the future.
multi-agentcentral collaborative path planningoverview of algorithmssearch algorithmshybrid algorithms
NETL
NSTL
万方数据
