Research on Dynamic Path Planning for Multiple AGVs Based on A∗Algorithm and Time Window Scheduling
GAO Ying
WANG Renzhong
WANG Liqun
Abstract：To address the conflict and waiting issues in bidirectional two-lane cluster AGVs within a flexible intelligent manufacturing environment,a dynamic path planning method is proposed based on the A∗algorithm path planning,with the goal of minimizing the overall passage time.Combined with the pre-occupied path and passage time period of AGVs,a time-window model is established to conduct overlap detection and sequencing calculations for time windows,facilitating real-time planning of AGV operation paths to reduce conflict and waiting time and overall operation time.Simulation verification through an application case in an intelligent production workshop shows that the algorithm can effectively reduce conflicts and waiting time,thereby enhancing task execution efficiency.
Keywords：AGVdynamic path planningA∗algorithmtime window
Publication Date：2025-06-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 54-59 )