中文摘要：

针对最有优先搜索单一依赖启发式函数指导搜索，使得搜索陷入局部最优和高原状态而不能有效改善规划解，提出了一种增加最优优先搜索择多样性的方法。将开列表分成包含不同启发式信息的多列表，进而增加开列表选择的多样性。为了增加状态节点选择的多样，一次扩展多个列表中的状态节点，不仅仅扩展最优状态节点。实验结果表明，增加搜索的多样性后，规划解的质量有了一定的改善。

英文摘要：

In view of the best-first-search mostly rely on heuristic function to lead the search, which falls into the local optimum and plateau exploration that can not effectively improve the quality of plan, a method is presented for adding diversity into best- first-search. For increasing the diversity of open list, open list is divided into a number of lists based on the different heuristic in- formation. At the same time, in order to increased the diversity of the node selection, nodes in different open lists are expanded simultaneously. The experimental results show that this method can obviously enhance quality of plan.