Path planning problem is the core and hot research topic of multiple Automatic\nGuided Vehicles (multi-AGVs) system. Although there are many research results,\nthey do not solve the path planning problem from the perspective of reducing traffic\ncongestion. A collision-free path planning method based on improved A* Algorithm\nfor multi-AGVs logistics sorting system is proposed in this paper. In the method, the\nenvironment of warehouse operation for AGVs is described by using grid method.\nThe estimated cost of A* algorithm is improved by adding the penalty value of the\npaths that AGVs share with each other to alleviate traffic congestion and collision\nresolution rules are made according to different types of collisions. Then the collision-\nfree path planning is done by combing the improved A* algorithm and collision\nresolution rules. The sorting efficiency of the method is compared with that of original\nA* algorithm. Simulation results show that the new collision-free path planning\nmethod can improve the sorting efficiency of multi-AGVs system and relieve traffic\ncongestion.
Loading....