冲突和拥堵环境下AGV 智能仿真运输系统路径规划研究

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关键词： 自动导引车（AGV）； 智能仿真运输系统； 路径规划； 冲突和拥堵； 改进 A* 算法； 栅格法； 优先避障中图分类号：TN929.5⁃34；TP18 文献标识码： A 文章编号：1004⁃373X（2025）12⁃0067⁃05

Abstract：In the path planning of automated guided vehicle （AGV） intelligent simulation transportation system， the route conflict and congestion caused by complex dynamic environment will significantly reduce the transportation efficiency. On this basis， a method of AGV intelligent simulation transportation system path planning considering conflicts and congestion is proposed. The grid method is used to model the operation path of AGV and simplify the transportation environment. The path generator is used to detect the collision and congestion of the path of the AGV intelligent simulation transportation system ， and optimize the transportation efficiency of the AGV system. The mechanism of early grid locking and priority obstacle avoidance are introduced to improve the A* algorithm， enabling it to adapt to various complex and changing situations， and avoiding conflicts and congestion during path planning. The experimental results show that the improved A* algorithm can plan a better AGV operation path， and the planned path has fewer turns， conflicts， and congestion.

Keywords：automated guided vehicle; intelligent simulation transportation system; path planning; conflict and congestion; improved A* algorithm; grid method; priority obstacle avoidance

0 引 言

自动导引车（Automated Guided Vehicle， AGV）智能仿真运输系统是指基于AGV 技术的智能化物流运输系统。（剩余5427字）