A Generalized Dynamic Potential Energy Model for Multiagent Path Planning

Table 5

Simulation process of multiagent path planning.

Step	Description
1	Model initialization. Set the generation rate of the agent as and the number of agents as k.
2	Obtain the static spatial potential energy field V for destination set through the improved Dijkstra algorithm.
3	Generalize the delayed potential energy field T for all agents; set the potential energy field W = 0 and simulation time .
4	Wait for the dissipation of potential energy W.
5	Set the agent number as k = 1.
6	Select the kth agent and jump to Step 13 if the agent has not departed or left the simulation area. Otherwise, move to Step 7.
7	If the agent is not waiting and the remaining time of the cell is greater than 0, then the remaining time will be −1, and jump to Step 13. Otherwise, move on to Step 8.
8	If the agent reaches the destination, set the agent waiting, subtract the space occupation of the agent from the space occupation of the cell; if the waiting potential energy field W becomes 0, then jump to Step 13; otherwise, move on to Step 9.
9	If the current time equals the initial entry time of the agent, strengthen the space occupation in the origin cell. Otherwise, if the direction of the agent is 1, the waiting potential energy will be strengthened.
10	Strengthen the basic waiting potential energy, and update 3 types of potential energy in all directions to obtain the generalized potential energy U by superposition.
11	Determine the target cell according to the cell probability selection model.
12	If the cell is a target cell, the agent will choose to stay, and set the agent waiting. Otherwise, update the direction and remaining time.
13	If , move on to the next step. Otherwise,, and return to Step 6.
14	If, end. Otherwise, t = t + 1, and return to Step 4.