App. Res. of Comp. Accepted Paper
Vol. 43, 2026 No. 4

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
School of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi'an Shaanxi 710021, China
DOI: 10.19734/j.issn.1001-3695.2025.07.0299

Abstract

To address the challenges of frequent path conflicts, steering delays, and high computational complexity in dense warehousing systems with multiple four-way shuttle vehicles, this study proposes a Continuous Conflict-Based Search algorithm enhanced by mutex propagation and multiple optimization strategies(M-MCCBS) to improve path planning efficiency and operational stability. The high-level module integrates a mutex propagation mechanism and a focal search strategy to efficiently detect symmetrical conflicts and reduce the size of the constraint tree. At the low level, the Safe Interval Path Planning algorithm is improved through a node selection strategy, a minimum-turning strategy, and a dual-label strategy, which respectively reduce the number of expanded nodes, suppress redundant steering actions, and reuse early-stage computation results. Experimental results demonstrate that the proposed algorithm outperforms the conventional Continuous Conflict-Based Search algorithm in terms of task completion time, steering frequency, and computational efficiency, achieving an average 9.83% improvement in task completion time. The results verify that the enhanced algorithm effectively balances solution quality and computational efficiency, providing a practical and robust approach for multi-shuttle vehicle path planning in dense storage environments.

Foundation Support

陕西省重点研发计划项目(2023-YBGY-408)
陕西省社会科学基金项目(2020R043)
西安市科技计划项目(23RKYJ0026)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.07.0299
Publish at: Application Research of Computers Accepted Paper, Vol. 43, 2026 No. 4

Publish History

[2025-12-16] Accepted Paper

Cite This Article

孙军艳, 靳增锐, 吴焕钦. 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 [J]. 计算机应用研究, 2026, 43 (4). (2025-12-19). https://doi.org/10.19734/j.issn.1001-3695.2025.07.0299. (Sun Junyan, Jin Zengrui, Wu Huanqin. Path planning and obstacle avoidance for multi-four-way shuttle vehicles based on mutex propagation and multi-strategy improved ccbs [J]. Application Research of Computers, 2026, 43 (4). (2025-12-19). https://doi.org/10.19734/j.issn.1001-3695.2025.07.0299. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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