Multi-agent path planning method and device based on fireworks optimization algorithm

The invention discloses a multi-agent path planning method and device based on an optimized fireworks algorithm. The method comprises the steps that N fireworks are initialized for each agent, the fitness of each firework is calculated, and the fitness is related to the path length, the path collision risk degree, the collision risk degree between the agents and the path smoothness; the firework with the minimum fitness in the N fireworks is stored as the optimal firework; the path collision degree of each firework is calculated, and Na fireworks with the path collision degree being 0 and the minimum fitness are selected; generating explosion sparks, Gaussian variation sparks and differential evolution sparks, and calculating the fitness of each spark; (N-1) individuals are selected from Na fireworks, explosion sparks, Gaussian variation sparks and differential evolution sparks, and the (N-1) individuals and the optimal fireworks serve as fireworks of next iteration; and the iterative operation is continuousl