An Improved A-Star Algorithm Based on Dynamic Congestion Control

Automatic guided vehicles (AGV) are widely used in warehousing systems, flexible manufacturing systems and other fields. The path planning for AGV is often a huge challenge. And the path planning methods described in the existing literature are often not good at avoiding congestion. In this paper, we propose an improved A-star algorithm based on dynamic planning that senses the presence of congestion in the map and avoids congestion by increasing the congestion weights. Compared with existing methods, it is able to significantly improve efficiency.