28、多智能体路径规划与机器人固定时间跟踪控制算法研究

多智能体路径规划与机器人固定时间跟踪控制算法研究

1. 多智能体路径规划算法：KD - SIPP

1.1 KD - SIPP 算法概述

KD - SIPP 算法是一种基于关键智能体的动态优先级规划算法，旨在解决多智能体路径规划问题。该算法通过不断调整智能体的优先级，以提高路径规划的成功率。

1.2 KD - SIPP 算法流程

以下是 KD - SIPP 算法的伪代码：

Algorithm 1 KD - SIPP
Require: agents A, graph G;
1: while no solution do
2:
    G ← original G; π ← ∅; Au ← ∅;
3:
    for each ai in A do
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        πi ← single - agent path planning by SIPP(ai, G);
5:
        if πi ̸= ∅ then
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            add πi to π;
7:
            update G by adding path constraints(G, πi);
8:
        else
9:
            add ai to Au;
10:
            continue;
11:
        end if
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        if all ai have obtained πi then
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            return π;
14:
        else
15: