With the increasing number of AGV in container terminals,a large number of path conflicts occur during the operation,resulting in a significant increase in carbon emissions.For the increase of carbon emissions caused due to path conflict,a model to minimize AGV carbon emissions is established,taking into account factors such as AGV conflict.Based on the traditional A-Star algorithm,an modified A-Star algorithm is proposed,which is used to store the usage data of new paths and consider the usage of path sections when finding paths.The AGV road network of a container terminal was simulated to verify the feasibility and effectiveness of different conflict strategy verification algorithms.The results show that the path improvement algorithm can effectively optimize the path and reduce the carbon emissions of multiple AGVs by more than 10%.
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