Multi-AGV Dynamic Path Planning Method for Warehouse Logistics

Obstacle avoidance and path planning problems in AGV systems are the key to the normal operation of modern warehousing systems and the improvement of their operational efficiency, so it is crucial to solve the collision, deadlock and path planning problems between AGVs. In this paper, we propose a method based on the improved <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$A^{*}$</tex> algorithm and reservation table to model the AGV system in the warehouse environment, which effectively solves the problem of conflicts when AGVs transport goods. In this paper, we build a rasterized map, set the AGV priority, and perform dynamic path planning by periodically interrogating the reservation table to avoid vehicle deadlock. The simulation experiment results verify the feasibility and effectiveness of the path planning method.