Multi-Automated Guided Vehicles Conflict-Free Path Planning for Packaging Workshop Based on Grid Time Windows

Abstract

In order to solve the problem of multi-AGV path planning in a packaging workshop, this paper proposes a multi-AGV path-planning method based on time windows. A grid method is selected to build a map model. A penalty function is added to the A* algorithm to reduce the number of invalid turns made by AGVs during transportation. The AGV priorities are set according to the differences in AGV transport states. At the same time, the raster time window method is used to describe the five types of conflict that may occur in the process of multi-AGV transport. Combined with the AGV priorities, a multi-AGV anti-collision strategy is provided to realize the conflict-free path planning of multiple AGVs. The algorithm’s effectiveness was verified by simulation, and a reasonable quantity of AGVs was proposed based on AGV sensitivity analysis. The improved A* algorithm combined with the time window method can realize multi-AGV collision-free transportation and improve the efficiency and reliability of multi-AGV transportation.