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28 April 2023 Enhanced priority-based search for multi-agent path finding in roadway map
Dongdong Yu, Gong Chen, Wei Lu, Chengyuan Li
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Proceedings Volume 12610, Third International Conference on Artificial Intelligence and Computer Engineering (ICAICE 2022); 126104K (2023) https://doi.org/10.1117/12.2671187
Event: Third International Conference on Artificial Intelligence and Computer Engineering (ICAICE 2022), 2022, Wuhan, China
Abstract
Previous Multi-Agent Path Finding (MAPF) solvers rely on several simplifying assumptions. They consider the agents as holonomic robots and ignore the agent’s size. There are two main directions of MAPF research. One is about MAPF’s own shortcoming, how to improve the efficiency of the existing algorithm and the quality of the solution. The other direction is how to deal with diverse constraints brought by different cases when applying MAPF to practical problems. In this paper, the latter direction for solving the handling problem of forklifts in the roadway is more focused on. Firstly, we define MAPF for forklift robot which considers the agent’s size and the topological paths as vertices. Secondly, we exploit the advantages of ECBS to make PBS runs faster with a bounded suboptimal solution. Then, we propose an acceleration strategy for collision detection, which is an important factor limiting the speed of the entire algorithm. Finally, we use the weighted low-level search to speed up calculation. The above series of improvements have enabled the MAPF algorithm to be applied in our real scenarios.
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Dongdong Yu, Gong Chen, Wei Lu, and Chengyuan Li "Enhanced priority-based search for multi-agent path finding in roadway map", Proc. SPIE 12610, Third International Conference on Artificial Intelligence and Computer Engineering (ICAICE 2022), 126104K (28 April 2023); https://doi.org/10.1117/12.2671187
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KEYWORDS
Mathematical optimization
Mathematics
Robotic systems
Unmanned vehicles
Artificial intelligence
Mobile robots
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