Multi-AGVs Path Planning in Intelligent Parking Lot

Abstract

The problem of path planning for multiple Automated Guided vehicles (AGVs) in intelligent parking lot. Proposing a path planning algorithm that combining K shortest path with time window. Firstly, using the visibility graph algorithm to model the parking lot. According to the established model, the K short paths of each AGV are obtained by combining the A star and path deviation algorithm. Then, the time window algorithm is used to predict the time that each AGV occupies path. If some AGVs’s time windows have overlapped, comparing the waiting strategy with the alternative K paths strategy, and the shortest strategy is adapted to solve the conflict. Finally, an example is given to verify the proposed algorithm, and the results show that the proposed algorithm can plan a collision-free path for each AGV in the intelligent parking lot of multiple AGVs. And the searching speed is relatively fast.