工业工程2025，Vol.28Issue(4)：34-44,11.DOI:10.3969/j.issn.1007-7375.250021
基于改进A*算法的四向穿梭车路径规划方法
A Path Planning Method for Four-way Shuttles Based on an Improved A*Algorithm
摘要
Abstract
The four-way shuttle-based high-density storage system represents a new generation of stereoscopic warehouse solutions in high-density and complex environments.This paper aims to solve the problem that four-way shuttles tend to experience frequent turns and visit many invalid nodes during operation with defective areas,resulting in long task execution time and low algorithm search efficiency.By establishing a topological map of the storage environment,the search performance of different heuristic estimation functions in the four-way shuttle topological map is compared and analyzed.In scenarios with defective areas that may lead to significant deviations between heuristic estimates and actual path cost,a triangle-based heuristic method is introduced to improve the A*algorithm.A simulation platform for the four-way shuttle-based high-density storage system is constructed to verify the effectiveness of the proposed method.Simulation results show that the improved A* algorithm can effectively reduce the number of explored nodes and turning points,thereby improving the search efficiency.关键词
密集仓储/四向穿梭车/路径规划/A*算法Key words
dense storage/four-way shuttles/path planning/A*algorithm分类
信息技术与安全科学引用本文复制引用
陈小松,刘强,赵荣丽,严都喜..基于改进A*算法的四向穿梭车路径规划方法[J].工业工程,2025,28(4):34-44,11.基金项目
广东省科技计划资助项目(2024A0505040024) （2024A0505040024）
