Hybrid Conflict-Driven Optimization for Multi-Robot Collaborative Transport Path Planning

Aiming at the problems of path conflicts and efficiency optimization in multi-robot collaborative transportation in warehouse logistics, this paper proposes a Hybrid Conflict-Driven Optimization (HCDO) algorithm. This method combines Conflict-Based Search (CBS) with Integer Linear Programming (ILP), and introduces a mathematical optimization acceleration strategy in hierarchical conflict resolution. Simulation experiments show that compared with traditional CBS and Random Priority Scheduling (RPP), HCDO reduces the task completion time by 25.7% and improves the computational efficiency by 53.3% in a 20-robot scenario. The algorithm also exhibits good robustness in dynamic environments, with the number of conflicts reduced by 83.3% compared to RPP.