A Combined Path Planning Method Based on LPA* and DWA Algorithms for AGV in the Guided Roller Production Workshop
Aiming at the challenges of indoor and outdoor navigation,shared transportation channels in multiple workshops,and cross-inter-sections in single workshop production lines of the papermaking machinery guided roller production line,a combined path planning method for Automated Guided Vehicle(AGV)in the guided roller production workshop by integrating LPA* and DWA algorithms was proposed.Firstly,the AGV's motion model and the guided roller production workshop model were established.Then,a combined path of local and global path planning method was proposed,where LPA* algorithm was utilized for global path planning to address the issue of finding the global optimal path,and DWA algorithm was employed for local path planning to tackle the obstacle avoidance problem.Finally,experimen-tal verification demonstrated that the proposed combined path planning algorithm significantly reduced the search time for paths compared to traditional path planning algorithms,resulting in higher efficiency.
papermaking machineryguided roller production workshopAGVpath planning
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