Sequential Path Planning of Multi Food Delivery Robot to Avoid Collision

The path planning for multiple food delivery robots aims to design collision-free paths, ensuring that each delivery robot can reach its target point without colliding with others. In a dynamic environment where delivery robots with different speeds move simultaneously, the risk of collisions significantly increases. This paper presents a new path planning method for a group of delivery robots moving at different speeds. By predefining the priorities between robots, the method allows different delivery robots to make optimal choices when faced with path conflicts, determining whether to continue with their tasks. This enables distributed path planning while minimizing time costs and avoiding collisions. The proposed method is compared with the existing Ant Colony-Particle Swarm Optimization (ACO-PSO) algorithm, and software simulations validate its performance advantages across various practical scenarios.