基于互斥锁传播与多策略改进CCBS的多四向穿梭车路径规划与避障

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关键词：四向穿梭车；路径规划；连续时间冲突基搜索算法；互斥锁传播；多策略优化中图分类号：TP23 文献标志码：A 文章编号：1001-3695（2026）04-013-1069-07doi：10.19734/j.issn.1001-3695.2025.07.0299

Path planning and obstacle avoidance for multi-four-way shuttle vehicles based on mutex propagation and multi-strategy improved CCBS

Sun Junyan， Jin Zengrui†，Wu Huanqin （Schoolof MechanicalandElectrical Engineering，ShaanxiUniversityofScienceandTechnology，Xi’an1oo1，China）

Abstract：Toaddress thechalengesoffrequentpathconflicts，steeringdelays，andhighcomputationalcomplexityindense warehousing systemswithmultiplefour-wayshutlevehicles，thisstudyproposedacontinuousconflict-basedsearchalgorithm enhanced bymutex propagationand multipleoptimization strategies（M-MCCBS）to improve path planning eficiencyandoperationalstability.Theigh-levelmoduleintegratedamutexpropagationmechanismandafocalsearchstrategytoeficientlydetect symmetricalconflictsandreducethesizeoftheconstraintre.Atthelowlevel，itimprovedthesafeintervalpathplangalgorithmthroughanodeselectionstrategy，aminimum-turning strategy，andadual-labeltrategy，whichrespectivelyreduced the numberof expanded nodes，suppressedredundant steeringactions，andreusedearly-stage computationresults.Experimentalresultsdemonstratethattheproposedalgorithmoutperformstheconventionalcontinuousconflict-basedsearchalgorithmin terms of task completion time，steering frequency，and computational eficiency，achieving an average 9.83% improvement in taskcompletiontime.Theresultsverifythattheenhancedalgorithmefectivelybalancessolutionqualityandcomputatioalefficiency，providing a practical androbust approach for multi-shutle vehicle path planning indense storage environments.

Key words：four-directional shutle vehicle；path planning；continuous conflict-based search algorithm；mutex propagation; multi-strategy optimization

0 引言

四向穿梭车仓储系统结合高密度存储与智能搬运，具备高效仓储、精准配送与智能管理等优势，受到物流企业的青睐。（剩余16246字）