Conflict-Free Path Planning of AGV based on Improved A-star Algorithm

Yuanyuan Cui1, Dan-Peng Ma2, Yang Fang2, Zhibin Lei1
 
1Hong Kong Applied Science and Technology Research Institute Company Limited, 2Anji Technology Company Limited
1Hong Kong, China, 2Shanghai, China
 
Abstract: 
This paper proposes an improved A* algorithm based on time-window to solve the conflict-free path planning problem for Automated Guided Vehicles (AGVs). In particular, a more precise estimate of the turning time is introduced so that a more accurate prediction of node conflict can be achieved during the path planning stage. Furthermore, a more precise estimation of heuristic value in the A* evaluation function is introduced in which it can further speed up the path searching process as some sub-optimal path candidates will not be checked during the process.
 
Keywords: 

A* algorithm, Path Planning, Time Window, Conflict-Free, AGV

pages: 

31-34

DOI: 

10.35745/icice2018v2.008

Year: 

2018

Published in: 

2nd International Conference on Information, Communication and Engineering (ICICE 2018)

Full paper download: 
PDF icon 31-34.pdf