Towards Path Planning Algorithm Combining with A-Star Algorithm and Dynamic Window Approach Algorithm

Abstract

In the Automated Guided Vehicle (AGV) warehouse automatic guided vehicle system, the path planning algorithm for intelligent logistics vehicles is a key factor to ensure the stable and efficient operation of the system. However, the existing planning algorithms have problems such as single designing a route and the inability to intelligently evade moving barriers. The academic community has proposed various solutions to these problems, although they have improved the efficiency and quality of path planning to some extent, they have not completely solved problems such as poor safety in planning, the high number of path inflection points, poor path smoothness, easily getting stuck in deadlocks, and have not fully considered the running cost and practical implementation difficulty of algorithms. To address these issues, the article deeply researched traditional A* scheme and Dynamic Window Approach (DWA) technology and proposed designing a route method according to the fusion of the A* algorithm and DWA technology. The algorithm improved the A algorithm by introducing a sub-node optimization algorithm to solve problems for instance poor global path planning safety and easy deadlock. Moreover, the algorithm reduced the amount of global route reversal locations and increased path consistency by improving the evaluation function and removing redundant points of the A algorithm. Finally, by integrating the DWA algorithm, the intelligent logistics vehicle achieved dynamic obstacle avoidance capabilities for moving objects in the real world. Our simulations-based results on MATLAB framework show that the algorithm significantly improves path smoothness, path length, path planning time, and environmental adaptability compared to traditional algorithms, and basically meets the path planning requirements of the AGV system for intelligent logistics vehicles.

Topics & Concepts