基于改进 CBS 算法的自动化码头 多 AGV 无冲突路径规划.

Increased number of Automated Guided Vehicles (AGVs) on automated container terminals leads to more frequent conflicts. This paper proposed an improved Conflict Based Search (CBS) algorithm. The bottom layer used the A* algorithm based on Manhattan distance, and the top layer combined the binary tree principle to build conflict trees to avoid conflicts between AGVs. With the objective of minimizing the total path length of AGVs between the shore bridge and the yard, the grid method used to developed the AGVs road network mode. Considering the point conflict and edge conflict among AGVs, the multi-AGVs conflict-free path planning problem in automated terminals statuted as a multi-agent path planning problem. The experimental results show that the proposed algorithm shortens the total path length and increases the computational speed with a guaranteed blockage rate of 0%, which verifies the effectiveness of the algorithm. [ABSTRACT FROM AUTHOR]