西安理工大学学报2024，Vol.40Issue(2)：242-252,11.DOI:10.19322/j.cnki.issn.1006-4710.2024.02.010
基于改进A*算法的多AGV路径规划及避障研究
Multi-AGV based on improved A*algorithm path planning and obstacle avoidance research
摘要
Abstract
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.关键词
自动导引运输车/A*算法/路径优化/时间因素/避障策略Key words
AGV/A*algorithm/path optimization/time factor/obstacle avoidance strategy分类
信息技术与安全科学引用本文复制引用
孙军艳,吴焕钦,王子豪..基于改进A*算法的多AGV路径规划及避障研究[J].西安理工大学学报,2024,40(2):242-252,11.基金项目
陕西省重点研发计划项目(2023-YBGY-408) （2023-YBGY-408）
陕西省社会科学基金项目(2020R043) （2020R043）
西安市科技计划项目(23RKYJ0026) （23RKYJ0026）
