Path planning and collision avoidance approach for a multi-agent system in grid environments

摘要

Abstract In multi-robot systems, ensuring efficient, safe, and conflict-free navigation for each robot is crucial, especially in scenarios requiring the coordination of complex tasks and interactions with the environment. Currently, most related research focuses on simplified grid environments, making it difficult to apply these findings to real-world scenarios. This paper introduces actual physical constraints into traditional grid environment path planning and designs a set of motion rules suitable for grid environments and a collision avoidance algorithm. We also propose a novel multi-agent path planning approach that integrates deep reinforcement learning with collision avoidance algorithms. Through a series of experiments, we have demonstrated that this method effectively guides agents in navigating from their starting points to their targets within grid environments that possess physical constraints, and significantly reduces the probability of collisions when used in conjunction with our collision avoidance algorithm. These findings not only showcase the efficacy of our approach but also open new avenues for deploying multi-agent systems in more complex real-world scenarios.