A Hybrid Algorithm of Path Planning for Automated Guided Vehicle in Complex Industrial System

With the improvement of production efficiency, the rise of labor cost and the enhancement of health awareness, the demands for Automated Guided Vehicle (AGV) are increased for industry. AGV under industry environment is the research hot spots of handling equipment. Autonomous path planning is the core task of autonomous motion control for AGV. The accurate and effective paths are planned, and dangerous obstacles is avoided by AGV availably for handling safety. Hybrid path planning approach of AGV in complex industrial system is presented in this paper. This method is combined global and local path planning algorithm based on the analysis of vehicle motion mathematical model. Modified bidirectional A* algorithm is used in global path planning and velocity obstacles algorithm is used in local one. Simulation results show that the proposed method is feasible.