Improved Hybrid Algorithm of Path Planning for Automated Guided Vehicle in Storage System

摘要

Aiming at the problem of automated guided vehicle path planning in storage system, this paper provided a new method which combines global path planning algorithm and local path planning algorithm to achieve the goal of finding the optimal path. In this paper, the improved A~* algorithm is used as the global path planning algorithm, and the improved APF algorithm is used as the local path planning algorithm. The hybrid algorithm not only makes full use of the known information to generate the global optimal path, but also can effectively avoid obstacles on the path. The advantages and effectiveness of the hybrid algorithm are proved by the results of simulations and applications.