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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 1
52-56

Improved time window path planning for large-scale AGV

Liu Chun
Peng Taiping
School of Computing Science, Hubei University of Technology, Wuhan 430068, China
DOI: 10.19734/j.issn.1001-3695.2022.06.0288

Abstract

In robot path planning, A* algorithm has a large number of redundant nodes when searching paths. With the increase of tasks, its search efficiency will decrease sharply, so it cannot adapt to path planning under large-scale tasks. Therefore, this paper proposed an improved time-window bounded suboptimal A* algorithm to solve the path planning problem of large-scale AGV. The algorithm used time heuristic and spatio-temporal search in the search process to plan the optimal or suboptimal path without conflict. The algorithm mainly has three improvements. This paper used time heuristic to shorten the path time. This algorithm adopted dynamic time window algorithm to avoid multiple path planning. This paper optimized the focal search operator to reduce negative feedback. MATLAB experimental results show that the improved algorithm can plan a smooth suboptimal path quickly and effectively without conflicts when multi-robot path planning, with high search efficiency and strong stability.

Foundation Support

国家自然科学基金资助项目(61902116)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.06.0288
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 1
Section: Algorithm Research & Explore
Pages: 52-56
Serial Number: 1001-3695(2023)01-008-0052-05

Publish History

[2022-08-22] Accepted Paper
[2023-01-05] Printed Article

Cite This Article

刘春, 彭太平. 大规模AGV的改进时间窗路径规划 [J]. 计算机应用研究, 2023, 40 (1): 52-56. (Liu Chun, Peng Taiping. Improved time window path planning for large-scale AGV [J]. Application Research of Computers, 2023, 40 (1): 52-56. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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