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Development of Path Planning Approach Based on Improved A-star Algorithm in AGV System

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IoT as a Service (IoTaaS 2017)

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Abstract

Automate guide vehicle (AGV) has been widely applied in industry. Therefore, it is important to design a highly efficient AGV. The path planning is known as one of the key factor for AGV operation. Although typical A-star algorithm with a heuristic mechanism can be used in the shortest path searching, it may suffer from broken lines and redundant nodes. In this paper, an improved A-star algorithm is presented. Based on the initial path planned by A-star algorithm, traversing all the nodes on an initial path and deleting unnecessary nodes and connections, the proposed model can remove the superfluous inflection points and redundant nodes effectively so that no obstacles exist during AGV moving. The performance results reveal that the proposed method can provide more efficient path planning with a shorter route and less turn times.

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Authors and Affiliations

  1. School of Electrical Engineering, Hebei University of Science and Technology, Shijiazhuang, 050018, China

    Yan Zhang, Zewen Ma & Jiang Zhao

  2. Department of the Electronic Information Engineering, Hebei University of Technology, Tianjin, 300130, China

    Ling-ling Li

  3. Department of Electronic Engineering, National Chin-Yi University of Technology, Taichung, 41170, Taiwan

    Hsiung-Cheng Lin

Authors
  1. Yan Zhang
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  2. Ling-ling Li
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  3. Hsiung-Cheng Lin
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  4. Zewen Ma
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  5. Jiang Zhao
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Corresponding author

Correspondence to Hsiung-Cheng Lin .

Editor information

Editors and Affiliations

  1. National Chiao Tung University, Hsinchu, Taiwan, Taiwan

    Yi-Bing Lin

  2. Department of Computer Science and Information, National Changhua University of Education, Changhua, Taiwan

    Der-Jiunn Deng

  3. Seoul, Korea (Republic of)

    Ilsun You

  4. Department of Industrial Engineering and Management, National Chiao Tung University, Hsinchu, Taiwan

    Chun-Cheng Lin

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© 2018 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Zhang, Y., Li, Ll., Lin, HC., Ma, Z., Zhao, J. (2018). Development of Path Planning Approach Based on Improved A-star Algorithm in AGV System. In: Lin, YB., Deng, DJ., You, I., Lin, CC. (eds) IoT as a Service. IoTaaS 2017. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 246. Springer, Cham. https://doi.org/10.1007/978-3-030-00410-1_32

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  • DOI: https://doi.org/10.1007/978-3-030-00410-1_32

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-00409-5

  • Online ISBN: 978-3-030-00410-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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