Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (12): 243-247.DOI: 10.3778/j.issn.1002-8331.2008-0099

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Application of Improved A* Algorithm in Path Planning

WANG Baojian, HU Dasha, JIANG Yuming   

  1. 1.College of Computer Science, Sichuan University, Chengdu 610065, China
    2.Big Data Analysis and Fusion Application Technology Engineering Laboratory of Sichuan Province, Chengdu 610065, China
  • Online:2021-06-15 Published:2021-06-10



  1. 1.四川大学 计算机学院,成都 610065
    2.四川省大数据分析与融合应用技术工程实验室,成都 610065


Focusing on the application scenario of large-scale multi-AGV path planning, in order to solve the problem that the node preempting of multiple AGVs during path planning may result in excessive load on the node, cause local congestion, and reduce the operating efficiency of the entire system, this paper proposes an improved A* algorithm based on referring to the node load conditions. According to the algorithm, for the load of each node, starting from the initial value, the load of the node will be dynamically updated according to the corresponding dynamic load calculation formula. It introduces the load into the heuristic function of the A* algorithm to affect the AGV path selection through the node load and avoid high-load nodes. Through corresponding simulation experiments, it proves that the algorithm is conductive to effectively balance the load of each node and improve the efficiency of system operation.

Key words: AGV path planning, A* algorithm, load balancing, local congestion



关键词: AGV路径规划, A*算法, 负载均衡, 局部拥塞