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| Research on Forklift AGV Hybrid Navigation Algorithm Based on Bezier Optimization |
| Received:September 19, 2025 Revised:October 20, 2025 |
| DOI：10.11980/j.issn.0254-508X.2026.03.024 |
| Key Words:Bezier optimization forklift AGV navigation A* algorithm DWA algorithm hybrid algorithm |
| Fund Project:湖北省教育科学规划2024年度一般课题（2024GB420）；湖北省教育厅科学研究项目（B2023489）；中国高校产学研创新基金（2023AY073）；广东省教育厅普通高校青年创新人才类项目（2023KQNCX163）；广东机电职业技术学院教科研项目（YJZD2023-10）；广东机电职业技术学院高层次人才项目（Gccrcxm-202209）；广西特种工程装备与控制重点实验室（桂林航天工业学院）主任课题（SEEC24ZR05）；梅州市引进创新创业团队项目（2024HYOOITD004）。 |
| Author Name | Affiliation | Postcode | | XU Kai* | 1Wuhan Institute of Shipbuilding Technology, Wuhan, Hubei Province, 430050 | 430050 | | SHI Quanhao* | 2Zhangjiakou Vocational and Technical College, Zhangjiakou, Hebei Province, 075131 | 075131 | | LI Chao | 3Guangdong Mechanical & Electrical Polytechnic, Guangzhou, Guangdong Province, 510550 | 510550 | | PANG Nan | 4Guangxi Key Lab of Special Engineering Equipment and Control, Guilin University of Aerospace Technology, Guilin, Guangxi Zhuang Autonomous Region, 541010 | 541010 | | JIN Hongtao | 1Wuhan Institute of Shipbuilding Technology, Wuhan, Hubei Province, 430050 | 430050 | | SUN Fuming | 5Mudanjiang Hengfeng Paper Co., Ltd., Mudanjiang, Heilongjiang Province, 157013 | 157013 | | TUO Jiongtao | 1Wuhan Institute of Shipbuilding Technology, Wuhan, Hubei Province, 430050 | 430050 | | QI Miao | 1Wuhan Institute of Shipbuilding Technology, Wuhan, Hubei Province, 430050 | 430050 |
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| Abstract:This study introduced a hybrid navigation algorithm for forklift-type automated guided vehicle (AGV) that integrated the A* and DWA algorithms. It optimized the global planning path based on Bezier curves and employed methods such as an improved fitness function and the introduction of a dynamic inertia weight factor for further optimization. This approach enabled effective path planning and local obstacle avoidance methods in complex indoor scenarios， such as paper manufacturing workshops. The results indicated that， compared to the traditional A* algorithm， the trajectory of the forklift-type AGV optimized by Bezier reduced 3.4 m， significantly enhancing the work efficiency of the forklift-type AGV (with a trajectory efficiency increase of 7.26%). Furthermore， the navigation trajectory curve exhibited smoother operation and higher reliability. Additionally， the hybrid navigation algorithm for forklift-type AGV， which integrated A* and DWA algorithms， had been verified through experiments to possess superior global optimality and local obstacle avoidance capabilities. |
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