【路径规划】基于RRT算法和帕累托最优的多智能体去中心化路径规划附matlab代码

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🔥 内容介绍

本文针对多智能体协同路径规划的核心痛点，完善并优化了 “去中心化架构 + 改进 RRT 搜索 + 帕累托多目标优化” 方案，补充了冲突消解细化逻辑、动态协同机制及完整可视化模块。方案无需中心控制器，每个智能体独立决策并通过局部通信避碰，同时平衡 “路径最短、安全距离最大、能耗最低” 三大目标，适用于无人机集群、AGV 车间调度、机器人协同作业等场景，附可直接运行的完整代码与结果分析！

一、方案核心升级（相较于前序版本）

1. 补全路径提取与冲突消解细节，修复 RRT 树回溯逻辑；

2. 新增多智能体协同调度类，统一管理感知、规划、运动全流程；

3. 强化时间维度冲突检测（避免 “时空重叠” 碰撞）；

4. 优化帕累托最优选择策略，支持场景化权重配置；

5. 完善动态可视化模块，生成智能体运动动画与指标分析图表；

6. 补充路径验证与约束检查，确保运动可行性（速度 / 角速度限制）。

⛳️ 运行结果

📣 部分代码

%%10A-different-goals-with-obs

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11.185072907145406, 11.200814901268679, 11.216564899566224, 11.232322864557784, 11.248088758763092, 11.26386254470189, 11.279644184893911, 11.295433641858894, 11.311230878116575, 11.327035856186697, 11.342848538588997, 11.358668887843207, 11.374496866469066, 11.39033243698631, 11.406175561914681, 11.422026203773918, 11.43788432508375, 11.453749888363923, 11.46962285613417, 11.485503190914233, 11.501390855223843, 11.51728581158274, 11.533188022510664, 11.549097450527352, 11.565014058152538, 11.580937807905961, 11.59686866230736, 11.612806583876473, 11.628751535133036, 11.64470347859679, 11.660662376787464, 11.676628192224802, 11.692600887428545, 11.708580424918424, 11.724566767214178, 11.74055987683554, 11.756559716302258, 11.772566

🔗 参考文献

🎈 部分理论引用网络文献，若有侵权联系博主删除

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