An Improved Heuristic Path Planning Algorithm for Minimizing Energy Consumption in Distributed Multi-AGV Systems

摘要

This paper will study the completion efficiency and energy consumption of multiple AGVs in the automated warehouse environment. Firstly, the motion model of the two-wheel differential-driven mobile robot is proposed in consideration of the lithium battery discharge process. Then, the energy consumption of AGV motion is transformed into the cost of the path planner. Furthermore, an improved heuristic path planning algorithm is proposed to convert energy consumption into path network occupation time. Finally, the numerical experiment and verification process is implemented.