计算机应用研究2026，Vol.43Issue(4)：1069-1075,7.DOI:10.19734/j.issn.1001-3695.2025.07.0299
基于互斥锁传播与多策略改进CCBS的多四向穿梭车路径规划与避障
Path planning and obstacle avoidance for multi-four-way shuttle vehicles based on mutex propagation and multi-strategy improved CCBS
摘要
Abstract
To address the challenges of frequent path conflicts,steering delays,and high computational complexity in dense warehousing systems with multiple four-way shuttle vehicles,this study proposed a continuous conflict-based search algorithm enhanced by mutex propagation and multiple optimization strategies(M-MCCBS)to improve path planning efficiency and opera-tional stability.The high-level module integrated a mutex propagation mechanism and a focal search strategy to efficiently detect symmetrical conflicts and reduce the size of the constraint tree.At the low level,it improved the safe interval path planning al-gorithm through a node selection strategy,a minimum-turning strategy,and a dual-label strategy,which respectively reduced the number of expanded nodes,suppressed redundant steering actions,and reused early-stage computation results.Experimen-tal results demonstrate that the proposed algorithm outperforms the conventional continuous conflict-based search algorithm in terms of task completion time,steering frequency,and computational efficiency,achieving an average 9.83％improvement in task completion time.The results verify that the enhanced algorithm effectively balances solution quality and computational ef-ficiency,providing a practical and robust approach for multi-shuttle vehicle path planning in dense storage environments.关键词
四向穿梭车/路径规划/连续时间冲突基搜索算法/互斥锁传播/多策略优化Key words
four-directional shuttle vehicle/path planning/continuous conflict-based search algorithm/mutex propagation/multi-strategy optimization分类
信息技术与安全科学引用本文复制引用
孙军艳,靳增锐,吴焕钦..基于互斥锁传播与多策略改进CCBS的多四向穿梭车路径规划与避障[J].计算机应用研究,2026,43(4):1069-1075,7.基金项目
陕西省重点研发计划资助项目(2023-YBGY-408) （2023-YBGY-408）
陕西省社会科学基金资助项目(2020R043) （2020R043）
西安市科技计划资助项目(23RKYJ0026) （23RKYJ0026）
