Abstract
Multi-agent path planning (MAPF) plays an important role in logistics, military and other fields, and the research on its optimization algorithm has received extensive attention. In the field of agent path planning, traditional path planning methods can be divided into global path planning and local path planning according to the known environmental information. However, these methods have some shortcomings, such as poor robustness, slow convergence speed, long solving time, and easy to fall into local optimal problems. In this paper, based on the actual problem of MAPF, the superiority of STA* algorithm is verified by Hungarian algorithm, CL-CBS algorithm and so on in many steps. At the same time, the results of assignment model are verified by LINGO, and the results are analyzed in full detail, and an effective solution is put forward for this problem.
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