A Probabilistic Time-Constrained Based Heuristic Path Planning Algorithm in Warehouse Multi-AGV Systems

This paper mainly focuses on the path planning algorithm of multi-AGV system in the warehouse environment. We first analyze and model the path network of multiple AGVs based on dynamic stochastic network theory. Then, a probabilistic time constraint is added in the process of the well-known A* heuristic algorithm, and the solution of the time cost is proposed based on probability theory. Furthermore, a multi-AGV conflict avoidance strategy suitable for heuristic planning algorithms is achieved in combination with queuing mechanism. Finally, numerical simulation experiments of the warehouse multi-AGV system are realized and demonstrate the effectiveness of the proposed algorithm. Copyright (C) 2020 The Authors.