Improvement and application of heuristic search in multi-robot path planning

摘要

In future, Automatic handling robot system will play an important role in the enterprise logistics system. The core part of this system is robots path planing. In this paper, we studied mulit-robot path planing algorithm under the demand of logistics corporation. After comparing the classic path search algorithms with tradition path planning in logistics company, we focus on the defect in these plans such as conflict. A new improved algorithm based on heuristic search are proposed. In order to fix these problem, this algorithm use a right value estimation function which base on the local path shape and a local adjustment accroding to time window to solve the problem of path adaptability and conflicts of time and space. What's more this paper experimentally confirmed the validity of the algorithm mentioned above.