Warehouse AGV path planning based on Improved A* algorithm

Currently, warehouses are gradually using AGVs for operation, and the key issue restricting the efficiency of multi-AGV systems in warehouses is multi-AGV path planning and path conflicts. To solve these problems, this article proposes improvements to the A* algorithm from the perspectives of single AGV path planning and multi-AGV path planning, and thus solves the conflict problem of AGVs. First, reasonable path planning is performed for a single AGV, avoiding the problem of easy turning of AGVs under the traditional A* algorithm. Second, to address the problem of intersection conflicts that easily occur between multiple AGVs, a penalty value is set to reduce the overlapping parts of paths between different AGVs and avoid conflicts between them. Through this collision-free path planning method for multiple AGVs, high-efficiency path planning for multiple AGVs can be achieved without causing collisions between them, improving the efficiency and stability of the system.