A Conflict-free multi-agent path planning method based on Improve A-star algorithm

This paper addresses the conflict-free multi-agent path planning problem by proposing a time-based enhanced A* algorithm. The approach begins by introducing a dynamic evaluation coefficient and a turning cost function to refine the heuristic, considering both the agent's distance to the target and path turning parameters. A novel neighborhood search strategy is then designed to reduce the search space, significantly improving the algorithm’s speed. Finally, the time-based improved A* algorithm is employed to solve the conflict-free path planning issue through the construction of a full-time environment map. Simulation results demonstrate that the proposed method effectively tackles the conflict-free multi-agent path planning problem, offering superior efficiency and feasibility compared to existing algorithms.