Path-planning of automated guided vehicle based on improved Dijkstra algorithm

In the automated storage and retrieval system (AS/RS), a reasonable path-planning is fundamental for the effective work of AGV. For the rectangular environment map of the AS/RS system, the traditional Dijkstra algorithm can only find one shortest path, and skip over other paths with the same distanc...

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Bibliographic Details
Published inChinese Control and Decision Conference pp. 7138 - 7143
Main Authors Guo Qing, Zhang Zheng, Xu Yue
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2017
Subjects
AGV
Algorithm design and analysis
Autonomous vehicles
Dijkstra algorithm
Heuristic algorithms
Path planning
shortest path
Shortest path problem
shortest time
Storage automation
Turning
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ISSN1948-9447
DOI10.1109/CCDC.2017.7978471

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Summary:In the automated storage and retrieval system (AS/RS), a reasonable path-planning is fundamental for the effective work of AGV. For the rectangular environment map of the AS/RS system, the traditional Dijkstra algorithm can only find one shortest path, and skip over other paths with the same distance. An improved Dijkstra algorithm is proposed to solve the path-planning problem in the rectangular environment, which can find all equidistant shortest paths. The optimal path with both the shortest distance and time is obtained by adding running time to the path-planning evaluation. The algorithm is programmed using Visual C++, and the simulation results show that the algorithm is effective and feasible for path-planning in the AS/RS system.
ISSN:1948-9447
DOI:10.1109/CCDC.2017.7978471