Algorithm for planning and coordination of a set of trajectories for a group of intelligent agents

The paper considers the problem of planning a set of non-conflicting trajectories for a group of intelligent agents. The proposed algorithm uses a prioritized approach and works in two stages: independent planning of individual trajectories of agents; trajectories’ coordination. A new method for trajectories’ coordination is proposed that works by adding time delays only. Due to the representation of the time axis in the form of a sequence of intervals, rather than discrete moments of time, the algorithm is able to coordinate trajectories constructed any-angle path-planning algorithms. The carried out model experimental studies have confirmed the applicability of the proposed algorithm, its high computational efficiency and the comparable quality of the solutions sought.