Multi-Agent Collaborative Path Planning Algorithm with Multiple Meeting Points
Abstract
:1. Introduction
2. Related Work
2.1. Basic Principles of the SIPP and CBS Algorithms
2.2. Research Progress on Multi-Agent Collaboration
3. Problem Description
3.1. MAPF Definition
3.2. Co-MAPF Description
3.2.1. Co-MAPF Definition
3.2.2. Two Forms of Collaborative Task Handover
4. Co-DP Algorithm
4.1. Multiple Meeting Points Solution Method Considering Obstacles
4.2. Segmented Path Planning Strategy
4.3. Hybrid Solution Mode Switching Mechanism
4.4. Pseudocode and Flowchart of the Co- Algorithm
Algorithm 1: Co- algorithm |
input: %, initial use of multi-meeting-point solving mode |
output: |
1: while < do |
2: for in Group do |
3: if = then |
4: ←CalMultipleMeetingPoints() %Solving for multiple meeting points |
5: end if |
6: if = then |
7: ←CalSingleMeetingPoint() %Solving for single meeting point |
8: end if |
9: for in do |
10: ←( |
11: if then |
12: insert , update %Update safe intervals to avoid future conflicts |
13: end if |
14: if then |
15: if = P and ≥ 1/6∙ then |
16: =SP |
17: end if |
18: ←DeterReScheduling() %Set the priority of failed groups to the highest |
19: ← |
20: ←,← |
21: end if |
22: end for |
23: end for |
24: return , |
25: end while |
26: return |
Algorithm 2: iSIPP algorithm |
input:,= |
output: |
1: while do |
2: expand nodes using A* |
3: if OPEN = then |
4: return |
5: end if |
6: if not then |
7: if then |
8: if is then |
9: Perform the wait operation according to Equation (11) |
10: end if |
11: %A unvisited meeting location as new goal point |
12: if is then |
13: %Plan to the ultimate goal |
14: end if |
15: end if |
16: end if |
17: if then |
18: if then |
19: return |
20: end if |
21: end if |
22: end while |
5. Simulation Experimental Analysis
5.1. Experimental Parameter Settings
5.2. Simulation Experiment 1
5.3. Simulation Experiment 2
5.4. Simulation Experiment 3
6. Experimental Verification
7. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Map | Ngroup | Length/Step | Flowtime/Step | Runtime/s | |||
---|---|---|---|---|---|---|---|
Co- | Co-CBS | Co- | Co-CBS | Co- | Co-CBS | ||
den312d | 6 | 768.8 | 893.9 | 1014.2 | 972.7 | 16.12 | 43.42 |
empty-48-48 | 6 | 467.88 | 536.12 | 665.52 | 592 | 4.63 | 8.47 |
12 | 950.72 | 1089.94 | 1253.72 | 1194.44 | 17.68 | 22.29 | |
18 | 1426.6 | 1607.8 | 1912.2 | 1777.2 | 54.29 | 128.65 | |
maze-32-32-4 | 6 | 620.75 | 636.25 | 786.5 | 729.75 | 28.91 | 46.89 |
warehouse-10-20-10-2-1 | 6 | 1254.4 | 1396.93 | 1630.86 | 1540.2 | 10.34 | 70.71 |
12 | 2379.33 | 2598.33 | 3096 | 2847.33 | 26.38 | 156.83 |
Map | Ngroup | Length/Step | Flowtime/Step | Runtime/s | |||
---|---|---|---|---|---|---|---|
Co- | Co- | Co- | Co- | Co- | Co- | ||
den312d | 1 | 760.38 | 806 | 852.84 | 929 | 21.18 | 7.86 |
2 | 1433.6 | 1638.6 | 1594.4 | 1860.6 | 121.37 | 73.37 | |
3 | 2262 | 2446 | 2567.5 | 2765.5 | 157.45 | 103.88 | |
4 | 2702 | 3307.5 | 2920.25 | 3793.25 | 233.2 | 283.64 | |
5 | 3190 | 4083 | 3433 | 4613 | 241.32 | 300 | |
empty-48-48 | 1 | 454.25 | 495.85 | 506.15 | 565.85 | 2.64 | 3.05 |
2 | 855.66 | 1014.44 | 922.16 | 1153.33 | 35.71 | 26.92 | |
3 | 1253.53 | 1537.33 | 1363.6 | 1757.93 | 39.85 | 84.91 | |
4 | 1653 | 2076.63 | 1770.63 | 2356.81 | 116.41 | 213.75 | |
5 | 2108.1 | 2607.44 | 2284.67 | 2951.22 | 213.45 | 293.93 | |
maze-32-32-4 | 1 | 604.9 | 637.7 | 727 | 757.8 | 19.76 | 8.92 |
2 | 1213.75 | 1404.87 | 1427 | 1695.87 | 42.35 | 25.61 | |
3 | 1797.5 | 2087.5 | 2152.5 | 2631.5 | 80.04 | 50.82 | |
4 | 2612.66 | 2808 | 3475.66 | 3812 | 149.02 | 92.46 | |
warehouse-10-20-10-2-1 | 1 | 951.3 | 1113.95 | 1035.08 | 1268.91 | 7.94 | 4.49 |
2 | 2185.68 | 2526.36 | 2373.89 | 2860.26 | 65.34 | 74.71 | |
3 | 3689.61 | 3813.53 | 4154.53 | 4295.53 | 131.82 | 118.85 | |
4 | 5373.2 | 5523.2 | 5984 | 6185.4 | 212.97 | 167.66 | |
5 | 6632.66 | 7100.66 | 7451 | 7969 | 259.82 | 229.61 |
Multiple Robot Positions Corresponding to Each Time Step | ||||
---|---|---|---|---|
0 | 1 | 2 | 3 | 4 |
5 | 6 | 7 | 8 | 9 |
10 | 11 | 12 | 13 | 14 |
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Mao, J.; He, Z.; Li, D.; Li, R.; Zhang, S.; Wang, N. Multi-Agent Collaborative Path Planning Algorithm with Multiple Meeting Points. Electronics 2024, 13, 3347. https://doi.org/10.3390/electronics13163347
Mao J, He Z, Li D, Li R, Zhang S, Wang N. Multi-Agent Collaborative Path Planning Algorithm with Multiple Meeting Points. Electronics. 2024; 13(16):3347. https://doi.org/10.3390/electronics13163347
Chicago/Turabian StyleMao, Jianlin, Zhigang He, Dayan Li, Ruiqi Li, Shufan Zhang, and Niya Wang. 2024. "Multi-Agent Collaborative Path Planning Algorithm with Multiple Meeting Points" Electronics 13, no. 16: 3347. https://doi.org/10.3390/electronics13163347