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A Combined Path Planning Method Based on LPA* and DWA Algorithms for AGV in the Guided Roller Production Workshop
Received:December 26, 2023  
DOI：10.11980/j.issn.0254-508X.2024.06.020
Key Words:papermaking machinery  guided roller production workshop  AGV  path planning
Fund Project:国家重点研发计划课题（2019YFB1707204）；渭南市重点研发计划项目（ZDYFJH-108）。
Author NameAffiliationPostcode
LIU Jiaqi Xi’an University of Technology， Xi’an， Shaanxi Province， 710048 710048
LIU Shanhui* Xi’an University of Technology， Xi’an， Shaanxi Province， 710048 710048
REN Huiran Xi’an University of Technology， Xi’an， Shaanxi Province， 710048 710048
CHEN Yuhong Fulian Precision Electronics （Zhengzhou） Co.， Ltd.， Zhengzhou， He’nan Province， 450000 450000
JI Haiyang Xi’an University of Technology， Xi’an， Shaanxi Province， 710048 710048
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Abstract:Aiming at the challenges of indoor and outdoor navigation， shared transportation channels in multiple workshops， and cross-intersections in single workshop production lines of the papermaking machinery guided roller production line， a combined path planning method for Automated Guided Vehicle （AGV） in the guided roller production workshop by integrating LPA* and DWA algorithms was proposed. Firstly， the AGV’s motion model and the guided roller production workshop model were established. Then， a combined path of local and global path planning method was proposed， where LPA* algorithm was utilized for global path planning to address the issue of finding the global optimal path， and DWA algorithm was employed for local path planning to tackle the obstacle avoidance problem. Finally， experimental verification demonstrated that the proposed combined path planning algorithm significantly reduced the search time for paths compared to traditional path planning algorithms， resulting in higher efficiency.
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