关键词: 自动导引车, 改进A*算法, 路径规划, 冲突协调

Abstract:

Advances in science and technology have prompted Automated Guided Vehicle（AGV） with many advantages to gradually replace manual handling, but the multi-AGV path planning and coordination problems have arisen at the historic moment. Aiming at the above problems, according to the driving characteristics of AGV, a Cartesian coordinate system environment is constructed, and the traditional A* algorithm is used as the basic model. By introducing 3 axes and 2 quadrants, the number of route turnings is used to eliminate invalid alternative points, and the driving path is smoothed. Minimize the time to formulate conflict judgment standards and coordination strategies for the goal to achieve the best system operating efficiency. Through example analysis, the improved A* algorithm single AGV line can reduce the maximum number of search points by 10.9% and the number of turns by 350%; the coordination strategy with the minimum time as the goal can effectively avoid the system from falling into a local optimal phenomenon due to the priority established by subjective factors.

Key words: Automated Guided Vehicle（AGV）, improved A* algorithm, path planning, conflict coordination