Multi-AGV Formation Path Planning Based on an Improved A* Algorithm
Zhiyong Fan, Delu Xing · 2024
For the application scenario of aircraft transfer within hangars using a formation of three AGVs with omnidirectional mobility, this paper proposes a multi-AGV formation path planning method based on an improved A * algorithm. The method integrates an obstacle height evaluation mechanism during the node expansion process of the A * algorithm. Additionally, the heuristic function is enhanced, and a dynamic neighborhood search strategy is adopted to optimize node expansion. Key path nodes are extracted, followed by smoothing of the planned path. Simulation results demonstrate that the improved A * algorithm offers significant advantages over the traditional algorithm in terms of space utilization, search efficiency, and path smoothness, providing a more reliable and efficient solution for practical applications.