关键词: 路径冲突, 时空地图模型, 冲突约束, A*算法, 自动导引小车

Abstract: To solve the path conflict problem of Automated Guided Vehicle (AGV) in warehousing and logistics transportation system,an A* algorithm based on space-time grid and conflict constraint was proposed.The time axis was added to the topological grid map to build the spatiotemporal map model.According to the characteristics of spatiotemporal map and the conflict constraints,the sub node extension rules and node evaluation functions of A* algorithm were redesigned.The improved A* algorithm was used to plan the path for each AGV according to the priority order.After planning a path,the node information in the spatiotemporal map was recorded with the mark table,and then the new path was searched with the improved A* algorithm and the mark table.The simulation results showed the effectiveness of the proposed algorith.

Key words: path conflict, spatiotemporal map model, conflict constraint, A* algorithm, automated guided vehicle