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

图 6 引入冲突分级后算法的平均扩展节点数与求解成功率

Fig.6 Average number of expanded nodes and solution success rate of algorithm after introducing conflict hierarchy