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Cooperative Pathfinding Based on Memory-Efficient Multi-Agent RRT*
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DOI：10.1109/ACCESS.2020.3023200.png)
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Abstract
En 中文
In cooperative pathfinding problems, non-conflict paths that bring several agents from their start location to their destination need to be planned. This problem can be efficiently solved by Multi-agent RRT*(MA-RRT*) algorithm, which is still state-of-the-art in the field of coupled methods. However, the implementation of this algorithm is hindered in systems with limited memory because the number of nodes in the tree of RRT* grows indefinitely as the paths get optimized. This paper proposes an improved version of MA-RRT*, called Multi-agent RRT* Fixed Node(MA-RRT*FN), which limits the number of nodes stored in the tree of RRT* by removing the weak nodes on the path which are not likely to reach the goal. The results show that MA-RRT*FN performs close to MA-RRT* in terms of scalability and solution quality while the memory required is much lower and fixed.
Keywords:
Scalability
Memory management
Computational efficiency
Skeleton
Planning
Path planning
Licenses
Cooperative pathfinding
collision avoidance
multi-agent motion planning
path planning
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