Abstract
In order to solve the problem of path conflict of multiple AGV (Automated Guided Vehicle) in warehousing environment during handling shelves, in this paper, a two-stage path planning algorithm is proposed. In the first stage, on the premise of ignoring the conflicts between robots, the optimal path of each AGV is obtained by using A* algorithm. In this paper, an improved A* algorithm with directional search is proposed, which can effectively reduce the search of unnecessary nodes in the path finding process. In the second stage, conflict is checked by time window, when collision conflicts occur in multi-robot system. When a post-conflict situation occurs, excessive energy consumption is caused by a AGV waiting for another AGV to pass, in order to solve the energy consumption caused by waiting, a path planning method of coupling conflict car is proposed to realize dynamic path planning of multi-AGV. The simulation results show that the proposed algorithm can effectively reduce the number of searching nodes and waiting times in the process of path finding and it can also improve the overall efficiency of the system under the condition of ensuring the optimal or sub-optimal path.
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Mu, T., Zhu, J., Li, X., Li, J. (2020). Research on Two-Stage Path Planning Algorithms for Storage Multi-AGV. In: Pan, L., Liang, J., Qu, B. (eds) Bio-inspired Computing: Theories and Applications. BIC-TA 2019. Communications in Computer and Information Science, vol 1160. Springer, Singapore. https://doi.org/10.1007/978-981-15-3415-7_35
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DOI: https://doi.org/10.1007/978-981-15-3415-7_35
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