AGV path planning based on dynamic priority method and environmental weight A-star

In order to plan the shortest path and optimise the search speed, an environmental weight A-star (A*) algorithm is proposed in the paper. This method dynamically adjusts the weights based on the ratio of environmental obstacles at each search, which makes the search time shorter and more stable. To optimise the conflict resolution, the local multi-direction method is introduced on the basis of the one-way map method. This method sets a set of travelling direction rules for the road, combined with the path-finding algorithm, it can get the path that conforms to the rules. The conforming path effectively avoids the opposite direction conflict, and eliminates detour problem. At the same time, a dynamic priority method based on traffic prediction is proposed to solve node conflicts. The method dynamically assigns the priority of AGVs in a node conflict based on the predicted traffic flow. It can improve the conflict resolution efficiency during localised congestion. The results suggest the environmental weight A* algorithm is faster and more stable in searching.