A novel hexagonal grid map model and regenerated heuristic factor based strategy for intelligent manufacturing system’s AGV path planning problem solving

Abstract

In modern industry, flexible manufacturing systems play an indispensable role, and the precision and connectivity of map modeling are crucial for improving the efficiency and flexibility of AGV (Automated Guided Vehicle) transportation systems. Facing challenges such as spatial constraints, equipment failures, and unexpected task changes in real manufacturing environments, this paper proposes an innovative AGV path planning method based on hexagonal grid map modeling. This method significantly enhances the connectivity, sampling frequency, and safety of AGV path planning by replacing traditional square grids with hexagonal ones. Additionally, this study employs an improved ant colony algorithm combined with the hexagonal grid map for AGV path planning. The algorithm incorporates heuristic factors to effectively avoid local optima. Furthermore, by dividing the ant colony into odd and even groups and implementing a bidirectional search strategy, the comprehensive exploration capability of the algorithm is further enhanced. Experimental results show that compared to traditional square grids, the hexagonal grid reduces the optimal path length by 11.1%, and the application of heuristic factors further shortens the path length by 18.6%. The bidirectional search strategy also significantly reduces the number of iterations required by the algorithm, with a maximum reduction of 46.46%. In summary, this paper provides a new, efficient, stable, and energy-saving solution for AGV path planning systems, with thorough optimizations and improvements made in every aspect from map modeling to path planning algorithms.