Path-planning of automated guided vehicle based on improved Dijkstra algorithm

Abstract

In the automated storage and retrieval system (AS/RS), a reasonable path-planning is fundamental for the effective work of AGV. For the rectangular environment map of the AS/RS system, the traditional Dijkstra algorithm can only find one shortest path, and skip over other paths with the same distance. An improved Dijkstra algorithm is proposed to solve the path-planning problem in the rectangular environment, which can find all equidistant shortest paths. The optimal path with both the shortest distance and time is obtained by adding running time to the path-planning evaluation. The algorithm is programmed using Visual C++, and the simulation results show that the algorithm is effective and feasible for path-planning in the AS/RS system.