Dynamic Path Planning of AGV Based on Kinematical Constraint A Algorithm and Following DWA Fusion Algorithms

• Published in: Sensors (Basel, Switzerland) Vol. 23; no. 8; p. 4102
• Main Authors: Yin, Xiong, Cai, Ping, Zhao, Kangwen, Zhang, Yu, Zhou, Qian, Yao, Daojin
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 19.04.2023; MDPI
• Subjects: A algorithm; Agricultural production; Algorithms; DWA algorithm; dynamic obstacle avoidance; Efficiency; Farm machinery; global path planning; Heuristic; Kinematics; Robots; Vehicles; A algorithm; DWA algorithm; global path planning; dynamic obstacle avoidance
• ISSN: 1424-8220; 1424-8220
• DOI: 10.3390/s23084102

In the field of AGV, a path planning algorithm is always a heated area. However, traditional path planning algorithms have many disadvantages. To solve these problems, this paper proposes a fusion algorithm that combines the kinematical constraint A* algorithm and the following dynamic window approach algorithm. The kinematical constraint A* algorithm can plan the global path. Firstly, the node optimization can reduce the number of child nodes. Secondly, improving the heuristic function can increase efficiency of path planning. Thirdly, the secondary redundancy can reduce the number of redundant nodes. Finally, the B spline curve can make the global path conform to the dynamic characteristics of AGV. The following DWA algorithm can be dynamic path planning and allow the AGV to avoidance moving obstacle. The optimization heuristic function of the local path is closer to the global optimal path. The simulation results show that, compared with the fusion algorithm of traditional A* algorithm and traditional DWA algorithm, the fusion algorithm reduces the length of path by 3.6%, time of path by 6.7% and the number of turns of final path by 25%.