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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.

CONFLICT-FREE PATH PLANNING OF AGV BASED ON IMPROVED A-STAR ALGORITHM