A Bidirectional search MB-IHCA* Multi-Robot Path Planning Algorithm Based on Search Node Collaboration Mechanism

To address the efficiency and success rate issues caused by highly coupled conflicts in multi-robot path planning in dense scenarios, the MB-IHCA* algorithm is proposed. This algorithm integrates constraint reduction, bidirectional search, and the CNAM mechanism to dynamically adjust robot priorities and optimize the search process. Simulation experiments demonstrate that the algorithm outperforms comparison algorithms in terms of path cost, solution time, and success rate, particularly in high-density environments, significantly enhancing the efficiency and robustness of multi-robot system planning.