Multi-AGV based on improved A*algorithm path planning and obstacle avoidance research
In response to the path planning and obstacle avoidance problem by the multiple auto-mated guided vehicles(AGVs),this study considers the impact of starting,braking speeds and turning angles on the travel time of AGVs.It formulates obstacle avoidance strategies based on different types of conflicts and aims to minimize the total travel time of all AGVs.A multi-AGV path planning and obstacle avoidance model is established,with an improved A*algorithm de-signed for solving it.Path planning and obstacle avoidance simulations are conducted for two groups of AGVs with different quantities.The results indicate that compared with the general A*algorithm,the total time optimization rates for multi-AGV path planning and obstacle avoidance based on the improved A*algorithm are 10.0％and 10.5％,respectively.The total path length optimization rates are 7.1％and 7.8％,respectively.Further comparisons with other improved intelligent algorithms confirm that the improved A*algorithm demonstrates significant advantages in reducing both path planning time and path length.The proposed improved A*al-gorithm efficiently plans collision-free paths for multiple AGV operations,with its improvement approach reflecting the practical operating conditions of AGVs accurately.
国家科技期刊平台
NSTL
万方数据
