Multi-robot Hierarchical Collaborative k-robust Path Planning for Path Interference

Authors

Kaixiang Zhang, Faculty of Mechanical and Electrical Engineering, 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
Niya Wang, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China
Zhihao Xu, Faculty of Information Engineering and Automation, Kunming University of Science and Technology, Kunming 650500, China

Abstract

Abstract: To plan collision-free paths for multiple robots in interference environments, based on the multi-robot k-robust path planning, this paper designed a multi-robot hierarchical collaborative k-robust path planning framework. In the priority optimization layer, in response to the starting predicament caused by the solution sequence, the multi-robot path solving sequence was determined based on the closure factor. In the multi-robot robust coordination layer, with the goal of improving solution efficiency, a safety interval was introduced as the basis for the design of k-robustness and collision-free avoidance. A collision-free path constraint for multiple robots in the sense of k-robustness was given. In the core solution layer, dynamic resistance factors were used to guide high priority robots to avoid the starting area of low priority robots during planning. The test results show that the proposed algorithm can effectively reduce the impact of k-robust starting predicament with small path loss, and the success rate of k-robust path solutions can be improved by more than 39% on average compared to existing advanced algorithms.

Recommended Citation

Zhang, Kaixiang; Mao, Jianlin; Wang, Niya; and Xu, Zhihao (2025) "Multi-robot Hierarchical Collaborative k-robust Path Planning for Path Interference," Journal of System Simulation: Vol. 37: Iss. 8, Article 14.
DOI: 10.16182/j.issn1004731x.joss.24-0229
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss8/14

First Page

2074

Last Page

2088

CLC

TP242；TP18

Recommended Citation

Zhang Kaixiang, Mao Jianlin, Wang Niya, et al. Multi-robot Hierarchical Collaborative k-robust Path Planning for Path Interference[J]. Journal of System Simulation, 2025, 37(8): 2074-2088.

Corresponding Author

Zhang Kaixiang

DOI

10.16182/j.issn1004731x.joss.24-0229