Research on Multi-robot Path Planning Based on Optimal Energy Consumption
Yan Wang, Jinchuan Kang, Yuqi Liu, Qi Tang · 2024
Aiming at the problem of energy consumption optimization in multi-robot path planning, this paper presents a multi-robot path planning algorithm based on optimal energy consumption. First, we improve the traditional $A^{*}$ algorithm to improve the efficiency and stability of multi-robot task execution through a three-step strategy, including queue priority, conflict avoidance and parking scheduling. Then, puts forward a new OECA* (Optimal Energy Consumption A*) algorithm, the algorithm integrates the multiple factors combination model of energy consumption, in order to more accurately estimate the energy consumption in the process of robot path planning in. Then, this paper verifies the performance of the improved $A^{*}$ algorithm and OECA* algorithm through comparative experiments, and the results show that OECA* algorithm has a good advantage in energy consumption. The research in this paper provides an efficient solution to the path planning and scheduling problem of multi-robot systems.