Research on multi-AGV path planning in automated container terminal

In order to alleviate traffic congestion, avoid collisions and improve loading and unloading efficiency at the automated terminal, this study considers the factor of road congestion and a predictive two-stage path planning algorithm is proposed. Firstly, a traffic flow model of automatic terminal is established and the strategy of considering road congestion is designed. Secondly, an improved A* algorithm is proposed to find the shortest path of AGVs. On the basis of the above, a predictive two-stage path planning algorithm based on time window is proposed, and the dynamic path planning algorithm is used as a comparison to plan a conflict-free path for each AGV. Finally, the rationality and feasibility of using the two-stage algorithm are verified by simulating the loading and unloading amount, the maximum number of active AGVs and the number of path-finding failures of the two algorithms in the same time.