| A greedy path planning algorithm based on pre-path-planning and real-time-conflict for multiple automated guided vehicles in large-scale outdoor scenarios |
| |
| 作者姓名： | 王腾达 WU Wenjun YANG Feng SUN Teng GAO Qiang |
| |
| 作者单位： | 1. Faculty of Information Technology,Beijing University of Technology;2. The 54th Research Institute of CETC |
| |
| 基金项目： | Supported by the National Key Research and Development Program of China (No. 2020YFC1807904)； |
| |
| 摘 要： | With the wide application of automated guided vehicles(AGVs) in large scale outdoor scenarios with complex terrain,the collaborative work of a large number of AGVs becomes the main trend.The effective multi-agent path finding(MAPF) algorithm is urgently needed to ensure the efficiency and realizability of the whole system. The complex terrain of outdoor scenarios is fully considered by using different values of passage cost to quantify different terrain types. The objective of the MAPF problem i...
|
|
