Abstract
This paper presents a guide to selecting path planning algorithm for automated guided vehicle. To solve the problem that users cannot choose the right algorithm due to a lack of comparative analysis of path planning algorithms, the following tasks are done. Firstly, a guide containing explanation and comparison of A* and D* Lite algorithms is presented. Then, suggestions in algorithm selection are proposed. Finally, simulation and experimental results are shown. In large area and complex work environment, D* Lite algorithm usually plans shorter path faster than A* algorithm does. However, D* Lite algorithm might be less effective than A* algorithm in small area and simple work environment. For those reasons, the characteristics of system which algorithm is going to be applied to should be considered in algorithm selection.
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Acknowledgment
This work was supported by the Materials and Components Technology Development Program of KEIT [10063273, Development of Picking Tool for Logistic Robots to Automate Picking Process of Atypical Parcels].
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Kim, D.H., Hai, N.T., Joe, W.Y. (2018). A Guide to Selecting Path Planning Algorithm for Automated Guided Vehicle (AGV). In: Duy, V., Dao, T., Zelinka, I., Kim, S., Phuong, T. (eds) AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application. AETA 2017. Lecture Notes in Electrical Engineering, vol 465. Springer, Cham. https://doi.org/10.1007/978-3-319-69814-4_56
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DOI: https://doi.org/10.1007/978-3-319-69814-4_56
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