多目标多智能体路径规划方法

张静,王祎,陈子龙,李云松

Multi-goal multi-agent path finding algorithm

Jing ZHANG,Yi WANG,Zilong CHEN,Yunsong LI

表 2 提出算法在不同邻域大小下的平均路径总成本统计表

Tab.2 Statistics of average total cost of paths for proposed algorithm under different neighborhood size

$ n $ $ C $/m 4邻域 8邻域 16邻域 32邻域 4 27. 34 24. 45 24. 07 23. 98 6 37. 41 33. 48 33. 10 32. 92 8 42. 53 38. 24 37. 74 37. 65 10 50. 33 45. 17 44. 63 44. 21 12 53. 65 48. 25 47. 70 47. 62 14 62. 10 54. 67 54. 21 53. 70 16 64. 22 57. 38 56. 57 56. 52 18 67. 15 60. 93 60. 88 60. 05 20 70. 83 64. 78 64. 79 63. 92