Offline And Online Path Planning Of AGVS Based On Bidirectional Synchronous A* Algorithm

With the rapid rise of the e-commerce industry,traditional logistics technology can not meet the high efficiency of operation,so AGV(Automatic Guided Transport Vehicle)appeared and has been widely used in e-commerce warehousing.Due to the large number of tasks and high requirements in e-commerce warehousing,multiple AGVs need to complete tasks efficiently,coordinated,and without conflicts.The path planning of AGVS(automatic guided transportation vehicle system)is particularly important.This paper is oriented to multi-AGV systems.It mainly studies how to ensure that the system can complete tasks without conflicts,and uses algorithms to effectively improve the system transportation efficiency.It focuses on improving the AGV path planning algorithm and uses reasonable anti-collision strategies to ensure AGVS conflict-free operation.Firstly,according to the specific situation of AGV in the e-commerce warehouse,including the operation mode and environment of AGV,specific function parameters,navigation mode and the control method of the overall system,I chose to use the greedy algorithm to assign tasks to the system;Secondly,The construction method of the electronic map is introduced,and the grid method is used to build the electronic map.In order to further improve the efficiency of the algorithm and the superiority of planning the path,based on the established electronic map,an improved two-way synchronization A*algorithm is proposed as the path Planning algorithm,and verified the superiority of the algorithm through simulation comparison;Thirdly,Formulated planning strategies for the offline and online phases,built a model for the offline phases to sort the alternative paths,used the time window algorithm to determine the type of conflicts in the online phases,resolved the main conflicts through the online anti-collision strategy,and passed specific operation examples The rationality of the two-stage planning strategy;Finally,Use Flexsim to simulate the operation of the entire warehouse.Through simulation comparison,the operating efficiency of the sorting station and each AGV is obtained.Further verify that the algorithm studied in this paper has certain advantages..In this paper,the AGVS path planning is studied to ensure the efficient and safe operation of the system.The path planning algorithm is improved,and the two-stage strategy is used to effectively ensure the efficient and conflict-free operation of the system.The article provides a certain reference value for AGVS path planning and anti-collision strategies.