AGV Path Planning: An Improved A* Algorithm Based on Bézier Curve Smoothing

To solve the problem of unstable speed and easy collision with obstacles caused by too many turning points in the path planning of AGV (automated guided vehicle), this article proposes an improved A* algorithm based on 5-search neighborhood combined with Bézier curve. The main improvements are as follows: 1. the search neighborhood of the A* algorithm is improved to be a 5-search neighborhood; 2. the heuristic function of the A-star algorithm is improved; and 3. the obtained paths are smoothed by using Bézier curves. Simulation experiments were conducted on the improved algorithm, and the results showed that the improved A* algorithm could complete path planning tasks for different maps and obstacle layouts, bypass the fixed obstacles to reach the target point smoothly, and possess the ability to smooth the path, which verifies the effectiveness of the algorithm.