基于改进A*算法的自动导引车无碰撞路径规划

针对自动导引车(automated guided vehicle,AGV)的无碰撞路径规划问题,提出一种引入时间因子的改进A^*算法以减少转弯次数,结合时间窗及优先级策略实现多AGV的动态无碰撞路径规划.首先利用改进后的A^*算法静态规划各AGV转弯次数最少路径;其次,分析路径节点到达时间及冗余时间,根据电量与路径性能动态地为多AGV分配优先级,结合时间窗模型解决了多AGV碰撞冲突问题并且提升了系统效率.案例分析结果表明,该算法在保证路径最优性的同时解决了传统A^*算法带来的转弯次数多问题,能有效实现无重复、无冲突的系统调度,并证明了其在动态环境下具有良好的适应性和鲁棒性.

Collision-free path planning for automated guided vehicles based on improved A* algorithm

To solve collision-free path planning problem for automated guided vehicles (AGV), an improved A^* algorithm with time factor was proposed to reduce turning time. In addition, combining this new approach with time window and priority strategy could help to transfer the concept of the dynamic collision-free path planning for multiple AGVs into practice. Firstly, the improved A^* algorithm was used to statically plan the path of each AGV with least turning times. Secondly, the arrival time and safety time interval of path nodes were analyzed, and priority was dynamically assigned to multiple AGVs based on power and path performance. Combining with the time window model, the collision problem for AGVs is solved and system efficiency is improved. The results of the case study show that this algorithm not only guarantees the path optimality, but also solves the problem of multiple turning times caused by the traditional A^* algorithm. It can effectively realize the system scheduling without repetition and conflict, and proves its good adaptability and robustness in the dynamic environment.