基于冲突避让策略的CBS多机器人路径规划  

CBS Multi Robot Path Planning Based on Conflict Avoidance Strategy

作　　者：闫星宇 毛剑琳[1] 王宁 徐志昊 王燕[1] YAN Xingyu;MAO Jianlin;WANG Ning;XU Zhihao;WANG Yan(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,昆明650500

出　　处：《小型微型计算机系统》2025年第4期841-846,共6页Journal of Chinese Computer Systems

基　　金：国家自然科学基金项目(62263017)资助.

摘　　要：狭窄路段环境中,部分机器人占据关键通道会引发局部冲突加剧,进而导致路径求解效率降低.针对该问题,本文提出基于冲突避让策略的多机器人路径规划方法.首先,在基于冲突搜索(Conflict-Based Search,CBS)算法框架上层的冲突消解方面,针对关键通道上的终点阻碍机器人实施主动避让策略,采用邻域搜索获得终点阻碍机器人的最优避让位置作为临时等待位置.其次,待其他机器人通过关键通道后,再重新规划出终点阻碍机器人到原有目标位置的路径.最后,在标准算例地图中的实验结果表明,求解时间相较于CBS-BP算法缩短15.06%.In narrow road environments,some robots occupying key channels can exacerbate local conflicts,leading to a decrease in path solving efficiency.In response to this issue,this article proposes a multi robot path planning method based on conflict avoidance strategy.Firstly,in terms of conflict resolution in the upper layer of the Conflict Based Search(CBS)algorithm framework,an active avoidance strategy is implemented for endpoint blocking robots on key channels.Neighborhood search is used to obtain the optimal avoidance position of endpoint blocking robots as a temporary waiting position.Secondly,after other robots pass through the critical channel,the path that hinders the robot from reaching the original target position at the endpoint can be re planned.Finally,the experimental results in the standard example map show that the solution time is reduced by 15.06%compared to the CBS-BP algorithm.

关 键 词：狭窄路段 多机器人路径规划 基于冲突搜索算法 终点阻碍 临时等待位置 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]