Multi-AGV path planning method for intelligent garage

The invention relates to a multi-AGV path planning method for an intelligent garage, and belongs to the field of intelligent technologies. The method specifically comprises the steps of 1) determiningan AGV to be allocated; 2) determining path planning according to an improved A* algorithm; 3) determining the occupation time of each edge of the path, and generating a time window; 4) judging whether time windows are overlapped or not, and if so, delaying the time windows until the time windows are not overlapped; 5) determining time window registration of all paths; 6) determining the time cost from the starting point to the target point; and 7) determining a path planning result. The method can solve the problem that the flexibility of a heavy AGV is poor, reduce the number of turning times, avoid conflict of multiple AGVs, and achieve the shortest time cost at the same time. 本发明涉及一种智能车库多AGV的路径规划方法，属于智能化技术领域。该方法具体包括：1)确定待分配的AGV；2)根据改进的A*算法确定路径规划；3)确定路径各条边的占用时间，生成时间窗；4)判断是否有时间窗重叠，如有重叠则延后时间窗直至不重叠；5)确定所有路径的时间窗登记