Low-energy Multi-robot Path Planning Algorithm under HCA* Framework

Authors

Ning Wang, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China
Jianlin Mao, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China
Dayan Li, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China
Chengyuan Fang, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China
Chengze Qian, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China

Abstract

Abstract: To address the energy optimization problem in multi-robot path planning, this paper proposed a multi-robot path planning algorithm based on the energy-guided hierarchical cooperative A* (E-HCA*) algorithm. To address the issue of robot oscillations caused by mutual avoidance at bottlenecks and narrow passages in multi-robot systems, a node expansion method with path length as a secondary feature was introduced, and a greedy suppression strategy under the cooperative A* framework was proposed. A differential-drive robot energy consumption model was established, and an energy-guided heuristic function was constructed by integrating energy metrics into the underlying A* algorithm to guide low-energy path planning. The results show that the proposed algorithm effectively solves the oscillating path problem, achieving a shorter sum of length and lower sum of energy compared to existing algorithms, thereby improving path quality.

Recommended Citation

Wang, Ning; Mao, Jianlin; Li, Dayan; Fang, Chengyuan; and Qian, Chengze (2025) "Low-energy Multi-robot Path Planning Algorithm under HCA* Framework," Journal of System Simulation: Vol. 37: Iss. 10, Article 16.
DOI: 10.16182/j.issn1004731x.joss.24-0515
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss10/16

First Page

2630

Last Page

2642

CLC

TP242; TP18

Recommended Citation

Wang Ning, Mao Jianlin, Li Dayan, et al. Low-energy Multi-robot Path Planning Algorithm under HCA* Framework[J]. Journal of System Simulation, 2025, 37(10): 2630-2642.

Corresponding Author

Mao Jianlin

DOI

10.16182/j.issn1004731x.joss.24-0515