基于冲突避让的多智能体有效旁路规划

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关键词：基于冲突搜索；狭窄路段；有效旁路；多智能体路径规划；临时等待位置；次优路径中图分类号：TP242 文献标志码：A 文章编号：1001-3695（2025）07-024-2103-06doi：10.19734/j.issn.1001-3695.2024.11.0469

Abstract：Tosolvetheproblemthatmultipleagents innarrowenvironmentcannotavoidtheconflictonkeychannels，which leads to thelow eficiencyof multi-agent path finding，this paper proposed an effective bypassplanning algorithm basedon fieldofviewconflictsearch.Intheupperlayerof theconflict-basedsearchalgorithmframework，thefieldofviewrepresented thecommunicationrangeof theagent.Byscanning the multi-value decision diagramof allagents inthecommunicationrange of theagent，thealgorithm determinedwhether therewasacompetion forsharedresources betweentheagents，leading to conflicts.Themulti-valueddecisionbacktrackingconflictavoidance strategyresolvedtheconflictsbetween multipleagentson thecriticalchannel.Byscanning the multi-valueddecision diagram，theagentobstructingthecritical channelcould find the suboptimalpathorthetemporarywaiting positionasaneffetivebypasstoavoidthecollsion.Theresultsofdifferentscaleand structure maptestshow thatmuli-valued decision backtracking conflictavoidance strategycan effectivelyreducetheoccurrenceof conflictbetwenagents.Intherandom-64-64-10and maze-128-128-10mapenviroments，theaveragesuccessrateof pathfinding for multiple agents improves by 10% and 15.2% ，respectively，compared with CBS-BP，proving that this algorithm effectively avoids conflicts and increases pathfinding success rates.

Key words：conflict-based search；narrowsection；efectivebypass；multi-agentpath planning；temporary waiting position; suboptimal path

0 引言

多智能体路径规划（multi-agentpath finding，MAPF）作为智能体领域的研究热点，受到国内外学者广泛关注[1-3]。（剩余14188字）