软件导刊2025，Vol.24Issue(9)：55-61,7.DOI:10.11907/rjdk.241729
基于时空窗的多机器人协同路径规划算法研究
Research on Multi-robot Collaborative Path Planning Algorithm Based on Spatiotemporal Windowing
摘要
Abstract
To further improve the efficiency of the windowed hierarchical collaborative A * algorithm(WHCA *)in multi robot path plan-ning,a strategy is proposed to reduce neighborhood extension,which involves redefining the robot's neighborhood search range to reduce search space and time,thereby improving the algorithm's efficiency.At the same time,in order to cope with the situation of robot disconnec-tion during operation,an improved WHCA * algorithm DG-WHCA * with decision game as the core is proposed to handle collision and block-age problems between multiple robots in complex scenarios.The simulation experiment results under the RAWSim-O framework for robot mo-bile delivery system show that the improved algorithm improves the handling efficiency by 3.14%and reduces the driving distance by 2.17%compared to the original WHCA * algorithm;In the case of robot disconnection,the improved algorithm can effectively avoid collisions and blockages,with a 3.69%increase in handling efficiency compared to the original WHCA * algorithm.关键词
WHCA*/邻域/机器人失联/决策树/博弈论Key words
WHCA*/neighborhood/robot lost contact/decision tree/game theory分类
信息技术与安全科学引用本文复制引用
钟志峰,张智浩,易晓婕,严诗玛,孙玉坤..基于时空窗的多机器人协同路径规划算法研究[J].软件导刊,2025,24(9):55-61,7.基金项目
湖北省技术创新专项(2018ACA13) （2018ACA13）
