Circular Multiple RGV Path Planning based on Improved A* Algorithm
DOI:
https://doi.org/10.54097/fcis.v5i1.11720Keywords:
Improved A* Algorithm, Path Planning, Priority Strategy, Ring Multiple RGVAbstract
Aiming at the problems that traditional A* algorithm has many unnecessary turns and the collision between multiple Rail Guided vehicles (RGV) in orbit at the same time, an algorithm with the minimum total cost of combining "8" type track and improved A* algorithm was proposed. An improved algorithm is applied to circular multi-RGV path planning. The traditional cost function is improved and new influencing factors are introduced, which makes the estimated cost closer to the actual cost. The experimental results show that compared with the traditional A* algorithm, the length of the path planned by the improved A* algorithm combined with the minimum total cost of the priority strategy is reduced by 8.1% and 8.6%, the turning rate is reduced by 0% and 33.3%, the conflict rate is reduced to 0%, and the total cost is reduced by 73.6% and 77.5%, respectively. The improved method can effectively improve the transfer efficiency of the automatic workshop.
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