Grid-Map-Based Path Planning and Task Assignment for Multi-Type AGVs in a Distribution Warehouse

In an intelligent distribution warehouse, latent AGVs are used for horizontal handling, and forklift or vertical handling. Studying the path planning task assignment problem when two types of mixed can help improve warehouse operation efficiency reduce cost. This paper proposes a two-stage optimization method to solve this problem. first stage, plan layout is transformed into raster map, shortest between any points without conflict with fixed obstacles planned stored using A* algorithm combined circular rules, called directly in subsequent stages. second minimize completion time AGV energy consumption, genetic combining penalty functions assign handling tasks submerged AGVs. The experimental results show that meet 24 h requirements realize And furthermore, number arranged be further reduced.