Abstract: Aiming at the problem of multi-AGVs path planning in dynamic operation automatic terminal, a weighted real-time A* algorithm combined with conflict avoidance is proposed. Firstly, the convergence speed of the algorithm is considered, and the weight coefficient that makes the convergence effect optimal is added to the real-time A* to speed up the convergence of the driving path to the target point. Secondly, the space-time coordinates are used to record the location of each AGV to realize path information sharing in the process of algorithm search. On this basis, combined with the principle of binary tree, the conflicts between multi-AGVs are avoided. Finally, an example is given to verify the effectiveness of the algorithm, and the results are comprehensively analyzed and compared with the ordinary A*. Simulation results show that this method can effectively avoid multi-AGVs dynamic conflicts, and the effect of computing time is better.

Key words: automated guided vehicles, path planning, weighted real-time A*, conflict avoidance

摘要： 针对自动化码头动态作业环境中多自动导引车的路径规划问题，提出一种结合冲突规避的加权实时A*算法。考虑算法收敛速度，为实时A*添加使得收敛效果最优的权重系数，以加快行驶路径收敛于目标点；在算法搜索过程中使用时空坐标记录各AGV位置以实现路径信息共享，在此基础上结合二叉树原理对多AGV之间的冲突进行规避；通过算例验证算法的有效性，并将结果与普通A*进行综合分析与比较。结果表明该方法能有效进行多AGV动态冲突的规避，并且计算时间方面表现的效果更优。

关键词: 自动导引车, 路径规划, 加权实时A*算法, 冲突规避