Method and device for processing multi-task running path conflict, equipment and medium

The invention relates to a method and device for processing multi-task running path conflicts, equipment and a medium. The method comprises the following steps: calculating an optimal path of each task during independent operation as an initial optimal path, and recording an initial income corresponding to the initial path; constructing a priority queue which is initially empty, putting all tasks into the priority queue, and sorting the tasks according to the initial path earnings; the cost of the initial optimal scheme is set to be positive infinity, tasks are dequeued from the priority queue according to the priority from high to low, and conflict points in task paths are processed; when all the conflict points in the priority queue are processed, calculating the cost of the dynamic scheme; and comparing the cost of the dynamic scheme with the cost of the current optimal scheme, and selecting the scheme with the lower cost as the optimal scheme. By the adoption of the method, when paths are planned for mult