An AGV Global Path Planning Algorithm Based on an Optimized A* Algorithm

Path planning algorithms are mainly divided into global and local path planning algorithms. The global path planning algorithm is used to provide the approximate travel path of the AGV in the global map. For global path planning algorithms, although the mainstream A* algorithm has the characteristics of fast search speed and strong portability, it has the problem of too many search nodes and inflection points. To solve this problem, this paper proposes an A* algorithm based on adaptive heuristic function and path smoothing through second-order Bezier curves to improve search efficiency and path quality.