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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 8

New approach to global path planning for AGV based on map decomposition

Wang Hanga
Huang Xixiaa,b
Liang Donga
a. Institute of Logistics Science & Engineering, b. Key Laboratory of Transport Industry of Marine Technology & Control Engineering, Shanghai Maritime University, Shanghai 201306, China
DOI: 10.19734/j.issn.1001-3695.2024.12.0527

Abstract

To address the issues of excessive node traversal, poor path smoothness, and long search time in traditional A* algorithms for Automated Guided Vehicle (AGV) path planning in large-scale scenarios, this paper proposes a three-layer block search A* algorithm (Blocks-A*) and develops a mecanum-wheel AGV to resolve kinematic constraints. The Blocks-A* algorithm decomposes the map into larger regions (blocks) , replacing node-level searches with block-level operations. First, it divides free space and restricted space based on prior map information, partitions free space into triangles, performs node equivalence for these triangles, and constructs adjacency matrices. Second, the Blocks-A* algorithm calculates the optimal block channel to generate suboptimal paths using midpoints of adjacent triangle boundaries. Third, linear programming or quadratic programming optimization models are applied according to specific scenarios to generate the final optimal path. Experimental results demonstrate that the proposed algorithm significantly reduces traversed nodes in large-scale environments, improves path smoothness to better meet AGV motion requirements, and enhances search efficiency. This method is specifically applicable to large-scale path planning problems.

Foundation Support

国家自然科学基金资助项目(52001197)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.12.0527
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 8

Publish History

[2025-04-17] Accepted Paper

Cite This Article

汪行, 黄细霞, 梁董. 基于地图分解AGV全局路径规划新方法 [J]. 计算机应用研究, 2025, 42 (8). (2025-04-17). https://doi.org/10.19734/j.issn.1001-3695.2024.12.0527. (Wang Hang, Huang Xixia, Liang Dong. New approach to global path planning for AGV based on map decomposition [J]. Application Research of Computers, 2025, 42 (8). (2025-04-17). https://doi.org/10.19734/j.issn.1001-3695.2024.12.0527. )

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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