A Guide to Selecting Path Planning Algorithm for Automated Guided Vehicle (AGV)

摘要

This paper presents a guide to selecting path planning algorithm for automated guided vehicle. To solve the problem that users cannot choose the right algorithm due to a lack of comparative analysis of path planning algorithms, the following tasks are done. Firstly, a guide containing explanation and comparison of A* and D* Lite algorithms is presented. Then, suggestions in algorithm selection are proposed. Finally, simulation and experimental results are shown. In large area and complex work environment, D* Lite algorithm usually plans shorter path faster than A* algorithm does. However, D* Lite algorithm might be less effective than A* algorithm in small area and simple work environment. For those reasons, the characteristics of system which algorithm is going to be applied to should be considered in algorithm selection.