A Two-Stage Path Planning Method for multi-AGV based on Improved A* and Inflection Node Optimization

To address the challenge of high-quality collisionfree path planning for multiple AGVs (Automated Guided Vehicles) in complex environments, this paper proposes a twostage path planning method that combines an improved $\mathrm{A}^{*}$ algorithm with a coordination strategy. In the search stage, a dynamic weight factor is introduced and integrated with the $A^{*}$ for global path planning. Furthermore, an inflection node optimization method is designed to eliminate redundant inflection nodes. In the conflict coordination stage, a dynamic prioritization coordination strategy is developed to resolve these conflicts effectively, ensuring the coordination of movements between AGVs. Experimental results demonstrate that the proposed method outperforms its counterparts, effectively reducing the number of turns and improving the path quality for AGVs.