Research on Multi-AGV Autonomous Obstacle Avoidance Strategy Based on Improved A* Algorithm

Abstract

This paper aims at the shortcomings of the traditional A* algorithm in multi-AGV scheduling. On this basis, a multi-AGV autonomous obstacle avoidance scheduling strategy based on improved A* algorithm and traffic control is proposed. By introducing busy-level parameter and weight value for each path, the rate of occupancy of a path can be assessed to make sure that none of the path sections is too busy. On the basis of the improved A* algorithm and given traffic rules and priority, a compound adjustment strategy is formulated to solve the traffic conflict by introducing the speed regulation parameters and the path replanning parameters. As verified by experiments, the dispatch efficiency and stability of the proposed strategy is much higher than traditional algorithms and could effectively achieve autonomous collision avoidance.