Improved A* Multi-AGV Path Planning Algorithm Based on Grid-Shaped Network

In this paper, a kind of two-dimensional coded mark is designed to guarantee that the multi-AGV could locate and execute motion commands in a grid-shaped path network. Then, according to the multi-AGV grid-shaped path network, an improved $\mathrm {A}^{*}$ path planning method is proposed. Finally, the path planning and collision avoidance of multi-AGV in the grid-shaped network is realized, and the effectiveness of the proposed method is demonstrated by numerical simulation experiments.