Research on AGV Path Planning Based on Improved Directed Weighted Graph Theory and ROS Fusion

Abstract

This article addresses the common issues of insufficient computing power and path congestion for automated guided vehicles (AGVs) in real-world production environments, as well as the shortcomings of traditional path-planning algorithms that mainly consider the shortest path while ignoring vehicle turning time and stability. We propose a secondary path-planning method based on an improved directed weighted graph theory integrated with an ROS. Firstly, the production environment is modeled in detail to identify the initial position of the AGV. Secondly, the operational area is systematically divided, key nodes are selected and optimized, and a directed weighted graph is constructed with optimized weights. It is integrated with the ROS for path planning, using the Floyd algorithm to find the optimal path. The effectiveness and superiority of this method have been demonstrated through simulation verification and actual AGV operation testing. The path planning strategy and fusion algorithm proposed in this article that comprehensively considers distance and angle steering are simple and practical, effectively reducing production costs for enterprises. This method is suitable for logistics sorting and small transport AGVs with a shorter overall path-planning time, higher stability, and limited computing power, and it has reference significance and practical value.

Keywords

• AGV
• improved directed weighted graph theory
• ROS
• path planning algorithm
• shortest path