Self-tuning Path Planning Algorithm for Multiple AGVs via Time Window Approach

The aim of this article is to propose a self-tuning path planning algorithm suitable for the cooperation task of multi-AGVs. The algorithm aims to address the conflict and deadlock problems that can occur when multiple AGVs collaborate in intelligent warehousing environments. Specifically, on the basis of baseline A* path planning algorithm, a self-tuning multi-AGVs path planning algorithm is proposed by adding the time window method. Detect conflicts by comparing the overlap between time windows, and then set virtual barriers at the conflict points to divert AGVs and ensure conflict-free path planning in a multiagent environment. Finally, the optimality of the proposed algorithm is proved by theoretical analysis and the improvement in overall task time efficiency is verified through numerical simulations.