An Improved Fusion Algorithm of Path Planning for Automated Guided Vehicle in Storage System
Xing Tang, Tong Zhou, Jie Yu, Jian Wang, Yan Ling Su · 2018
Aiming at the problems of large computation, poor real-time performance and GNRON (goals no reachable with obstacle nearby), an improved fusion algorithm of path planning for AGV (automated guided vehicle) in storage system is proposed in this paper, which combines the improved A* algorithm and the improved artificial potential field algorithm. The proposed algorithm features an innovative decision module, which could realize the self-invoking between the global path planning algorithm and local path planning algorithm to adapt to different storage environments. The simulation and experiment results verify the rationality and feasibility of the algorithm, proving its favorable prospects for application.