HG-CBS Planner: Heuristic Group-based Motion Planning for Multi-robot

Multi-Agent Path Finding (MAPF) has been widely studied in the field of artificial intelligence and multi-agent path search, and researchers have made improvements to make such algorithms applicable to actual nonholonomic constrained robots. In this paper, the collision detection is improved by body-occupied collision detection, which improves the efficiency of collision detection. In addition, to solve the problem of low efficiency in centralized search for multi-robot solutions, reasonable grouping is performed to reduce the number of collision nodes expanded in the centralized Conflict-based search(CBS), and feasible results are obtained faster. At the same time, the heuristic multi-robot search based on collision frequency is improved to reduce the search time. Finally, we constructed the trajectory smoothing problem based on the multi-robot path search results and applied the solution to real robot trajectory tracking. Our research provides valuable insights into solving trajectory planning problems for nonholonomic constrained mobile robots in practical scenarios.