HTN-based multi-robot path planning
Suying Zeng, Yuancheng Zhu, Chao Qi · 2016
In this paper, Hierarchical Task Network (HTN) method is applied to multi-robot path planning. A conflict resolution mechanism and time constraint method are also proposed for searching an optimal or approximate optimal collision-free path from start state to target state. Experiment indicates that HTN planning can manage the conflict situations and time constrains well, and provides more optimal route comparing with the traditional A* algorithm.