ART path planning method based on the 3D steering angle weighted A-star algorithm
by Jiaqi Wang; Ning Zhao; Chao Mi
International Journal of Vehicle Information and Communication Systems (IJVICS), Vol. 9, No. 3, 2024

Abstract: Automated Container Terminals (ACTs) have become vital in modern global supply chains, offering efficient container handling. Path planning for Artificial Intelligence Robot of Transportation (ART) poses challenges. This paper proposes a multi-ART path planning algorithm that reduces energy consumption. It introduces an eight-node searching method to the traditional A-star algorithm, minimising ART turning tendency. Additionally, a steering angle cost function is incorporated to further reduce turning. This algorithm improves energy control, ART running time, and port operation efficiency. Most path planning algorithms focus on two-dimensional maps with x- and y-coordinates. This study proposes a spatial-temporal ART path model and a collision-free path planning solution for multi-ART collaboration. Compared to the traditional A-star algorithm with three conflicts, the proposed algorithm reduces planned path length by 18.0% and eliminates conflicts. Simulation results on Section C of Tianjin Port, a Chinese ACT, validate the algorithm's effectiveness.

Online publication date: Fri, 05-Jul-2024

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