Open AccessPath Planning in Multi-AGVs Using a Modified A-star Algorithm
Author(s) -
Xin Xu,
Munashe Zhoya
Publication year - 2020
Publication title -
deleted journal
Language(s) - English
Resource type - Journals
ISSN - 2411-2933
DOI - 10.31686/ijier.vol8.iss5.2342
Subject(s) - motion planning , computer science , a* search algorithm , scheduling (production processes) , shortest path problem , algorithm , path (computing) , operations research , distributed computing , real time computing , industrial engineering , mathematical optimization , artificial intelligence , engineering , graph , computer network , theoretical computer science , robot , mathematics
The problem of path planning is a hot and exclusive research topic on multiple Automatic Guided Vehicles (multi-AGVs) systems. Many research results have been reported, but outrightly solving path planning problem from the perspective of reducing traffic congestion have faced obstacles. A collision-free path planning procedure based on a modified A-star Algorithm for multi-AGVs logistics sorting system is proposed in this paper. AGVs are now a poplar way to handle materials in latest smart warehouses. Many researches have been conducted and new technologies are still being developed. There is wide scale research on algorithms to help in scheduling, routing and path planning. Multi-AGVs are used to load goods automatically in a packaging factory. To ensure an effective and safe collision free path planning, this work investigates movement, scheduling and routing, speed manipulation and efficiency of machinery to target positions. The A-star algorithm with grid method to map out a typical warehouse scenario into multiple nodes was used. To have the shortest possible path, for obstacle avoidance, we employed the Braitenberg model. The waiting strategy is used for conflict resolution at intersections.