AGV Path Planning Based on Smoothing A* Algorithm
Xie Yang, Cheng Wushan · International Journal of Software Engineering & Applications · 2015
The path consumption of the digital map in the grid as the environment expression way is discrete, for Automated Guided Vehicle(AGV) to achieve low consumption and smooth path planning target, the A* algorithm is applied to the path planning based on grid, and the optimal path is realized.A path smoothing method is proposed and applied to the path of A*.The smoothing method satisfies the AGV turning radius, makes the path smooth transition at the break point, and realizes the smooth path deviation.The simulation results are verified by using the grid method, and the path of the proposed method is smoother, the path consumes less and the path error is less than that of the A*.