关键词: 自动引导车, 路径规划, 改进A*算法, 碰撞类型, 动态优先级

Abstract: At present, automated guided vehicle（AGV） is gradually applied to parcel sorting in the delivery distribution center. Path planning and path collision are key problems restricting the operation efficiency of multi-AGV system in delivery distribution centers. To solve the problem of appeal, this paper proposes a two-stage path planning method. At the stage of static path planning, it improves A* algorithm considering turn penalty to carry out static path planning for a single AGV and obtains a better initial routing without unmeaning turn. At the stage of dynamic path planning, common collision types of AGV system in the express distribution center are firstly determined and corresponding collision avoidance strategies are formulated. Then, dynamic priority strategy quantifies the real-time priority of AGVs when collisions occur by taking AGV’s remaining electricity, load and package timeliness as indicators is designed as the basis for AGVs to wait or replan paths. Dynamic collision-free path planning for multiple AGVs is realized according to dynamic priority strategy and collision avoidance rules, after each AGV’s initial route is generated and collision nodes between AGVs are found. The case analysis results show that the dynamic priority strategy can solve the problem of multiple AGV path conflicts and reduce the total task completion time and the additional time added to avoid conflicts.

Key words: automated guided vehicle（AGV）, path planning, improved A* algorithm, collision type, dynamic priority