关键词: 自动导引车, 路径规划, 动态寻路, 实时避障, 仓储系统, 前瞻预测

Abstract: For the path planning problem of the Automated Guided Vehicle（AGV）, many static algorithms can effectively solve. Due to the mutual influence and restriction of simultaneous preemption of system resources among AGVs, deadlock, collision and other problems may occur in collaborative operations of multiple AGV, and the static path planning algorithm cannot meet the system requirements of real-time dynamic operations. In the intelligent warehouse system, the core problem of multi-AGV dynamic path planning is not a single AGV quickly solving the optimal path, but multi-AGV conflict avoidance and resolution to achieve the overall coordination of the optimal. This paper adopts two solutions to the appeal issue. One solution is to improve the most effective static algorithm and introduce dynamic mechanism and conflict resolution strategy to meet the job requirements. Another scheme proposes an active obstacle avoidance algorithm with multi-step foresight, which optimizes the path and avoids the congested section in advance to reduce the possibility of conflict and the cost of rerouting. Experimental results show that both algorithms have good robustness and can effectively solve conflicts, and the latter algorithm can continuously expand the number of AGVs and has higher system efficiency.

Key words: Automated Guided Vehicle（AGV）, path planning, dynamic pathfinding, real-time obstacle avoidance, warehousing systems, forward prediction