A multi-police-officer collaborative round-up task allocation and path planning method under the constraint of a road network, including: acquiring a road topological map G of the road network; acquiring police officer distribution information and information of a task target location in the G of the road network; according to the position where the task target appears, a set of nodes that the task target is next likely to reach are determined; acquiring the movement speed of police officers and the task target; confirming a set of police officers to be assigned according to an interception point set and the movement speed of the police officers and the task target; calculating the congestion degree of each intersection in the interception point set; building a multi-police-officer collaborative round-up task allocation and path planning optimization model; solving the optimization model to obtain a multi-police-officer collaborative round-up task allocation and path planning scheme.
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