Enhanced Weighted Dependency Graph Algorithm for Multi-Robot Path Planning Based on Conflict Search

The Conflict-Based Search Weighted Dependency Graph algorithm is one of the optimal algorithms for multi-robot path planning. Although this algorithm can find optimal solutions relatively quickly, its computational complexity increases significantly with the number of robots and the complexity of the environment. To address this issue, we propose an improved Weighted Dependency Graph algorithm that introduces a conflict bypass strategy to resolve some conflicts, gradually reducing the number of conflicts that need to be addressed and enhancing problem-solving efficiency. Additionally, time constraints are incorporated into the low-level path planning of the Weighted Dependency Graph algorithm, further improving the efficiency of problem-solving. Experimental results show that, compared to the standard Conflict-Based Weighted Dependency Graph algorithm, the proposed approach effectively enhances path planning efficiency.