Open Access

Institute of Electrical and Electronics Engineers (IEEE)

IEEE Access

, volume 9 , pages 59196-59210

Geometric A-Star Algorithm: An Improved A-Star Algorithm for AGV Path Planning in a Port Environment

Gang Tang ¹

Congqiang Tang ¹

Christophe Claramunt ^{1, 2}

Hu Xiong ¹

Peipei Zhou ³

Hide authors affiliations Show authors affiliations: 3 affiliations

School of Logistics Engineering, Shanghai Maritime University, Shanghai, China |

Naval Academy Research Institute, Brest, France |

School of Mechatronic Engineering, Guangdong Polytechnic Normal University, Guangzhou, China |

Publication type: Journal Article

Publication date: 2021-03-31

Institute of Electrical and Electronics Engineers (IEEE)

IEEE Access

scimago Q1

wos Q2

SJR: 0.849

CiteScore: 9.0

Impact factor: 3.6

ISSN: 21693536

DOI: 10.1109/access.2021.3070054

Copy DOI

General Materials Science

General Engineering

General Computer Science

Abstract

This research introduces a path planning method based on the geometric A-star algorithm. The whole approach is applied to an Automated Guided Vehicle (AGV) in order to avoid the problems of many nodes, long-distance and large turning angle, and these problems usually exist in the sawtooth and cross paths produced by the traditional A-star algorithm. First, a grid method models a port environment. Second, the nodes in the close-list are filtered by the functions P(x,y ) and W(x,y ) and the nodes that do not meet the requirements are removed to avoid the generation of irregular paths. Simultaneously, to enhance the stability of the AGV regarding turning paths, the polyline at the turning path is replaced by a cubic B-spline curve. The path planning experimental results applied to different scenarios and different specifications showed that compared with other seven different algorithms, the geometric A-star algorithm reduces the number of nodes by 10% ~ 40%, while the number of turns is reduced by 25%, the turning angle is reduced by 33.3%, and the total distance is reduced by 25.5%. Overall, the simulation results of the path planning confirmed the effectiveness of the geometric A-star algorithm.

Found

1 citation

Dhouib Souhail

🥼 🤝

PhD in Engineering, professor, professor of the Tunisian Academy of Sciences, Letters and Arts

73 publications, 277 citations, 38 reviews

h-index: 9

University of Sfax

Research interests

Artificial intelligence

Heuristic

Metaheuristic

OPERATIONS RESEARCH

Top-30

Journals

	2 4 6 8 10 12 14 16 18
IEEE Access	IEEE Access, 18, 5.17% IEEE Access 18 publications, 5.17%
Sensors	Sensors, 15, 4.31% Sensors 15 publications, 4.31%
Applied Sciences (Switzerland)	Applied Sciences (Switzerland), 13, 3.74% Applied Sciences (Switzerland) 13 publications, 3.74%
Symmetry	Symmetry, 7, 2.01% Symmetry 7 publications, 2.01%
Ocean Engineering	Ocean Engineering, 6, 1.72% Ocean Engineering 6 publications, 1.72%
Drones	Drones, 5, 1.44% Drones 5 publications, 1.44%
Scientific Reports	Scientific Reports, 5, 1.44% Scientific Reports 5 publications, 1.44%
Lecture Notes in Computer Science	Lecture Notes in Computer Science, 5, 1.44% Lecture Notes in Computer Science 5 publications, 1.44%
Lecture Notes in Electrical Engineering	Lecture Notes in Electrical Engineering, 5, 1.44% Lecture Notes in Electrical Engineering 5 publications, 1.44%
Journal of Physics: Conference Series	Journal of Physics: Conference Series, 5, 1.44% Journal of Physics: Conference Series 5 publications, 1.44%
Electronics (Switzerland)	Electronics (Switzerland), 4, 1.15% Electronics (Switzerland) 4 publications, 1.15%
Expert Systems with Applications	Expert Systems with Applications, 4, 1.15% Expert Systems with Applications 4 publications, 1.15%
Communications in Computer and Information Science	Communications in Computer and Information Science, 3, 0.86% Communications in Computer and Information Science 3 publications, 0.86%
Applied Soft Computing Journal	Applied Soft Computing Journal, 3, 0.86% Applied Soft Computing Journal 3 publications, 0.86%
Intelligent Service Robotics	Intelligent Service Robotics, 3, 0.86% Intelligent Service Robotics 3 publications, 0.86%
IEEE Open Journal of Vehicular Technology	IEEE Open Journal of Vehicular Technology, 3, 0.86% IEEE Open Journal of Vehicular Technology 3 publications, 0.86%
Computers and Industrial Engineering	Computers and Industrial Engineering, 3, 0.86% Computers and Industrial Engineering 3 publications, 0.86%
International Journal of Pattern Recognition and Artificial Intelligence	International Journal of Pattern Recognition and Artificial Intelligence, 2, 0.57% International Journal of Pattern Recognition and Artificial Intelligence 2 publications, 0.57%
Machines	Machines, 2, 0.57% Machines 2 publications, 0.57%
Energies	Energies, 2, 0.57% Energies 2 publications, 0.57%
Sustainability	Sustainability, 2, 0.57% Sustainability 2 publications, 0.57%
Remote Sensing	Remote Sensing, 2, 0.57% Remote Sensing 2 publications, 0.57%
Journal of Supercomputing	Journal of Supercomputing, 2, 0.57% Journal of Supercomputing 2 publications, 0.57%
ISA Transactions	ISA Transactions, 2, 0.57% ISA Transactions 2 publications, 0.57%
Automation in Construction	Automation in Construction, 2, 0.57% Automation in Construction 2 publications, 0.57%
PLoS ONE	PLoS ONE, 2, 0.57% PLoS ONE 2 publications, 0.57%
Wireless Communications and Mobile Computing	Wireless Communications and Mobile Computing, 2, 0.57% Wireless Communications and Mobile Computing 2 publications, 0.57%
Lecture Notes in Networks and Systems	Lecture Notes in Networks and Systems, 2, 0.57% Lecture Notes in Networks and Systems 2 publications, 0.57%
Mathematics	Mathematics, 2, 0.57% Mathematics 2 publications, 0.57%
	2 4 6 8 10 12 14 16 18

Publishers

	20 40 60 80 100 120 140
Institute of Electrical and Electronics Engineers (IEEE)	Institute of Electrical and Electronics Engineers (IEEE), 128, 36.78% Institute of Electrical and Electronics Engineers (IEEE) 128 publications, 36.78%
MDPI	MDPI, 70, 20.11% MDPI 70 publications, 20.11%
Elsevier	Elsevier, 54, 15.52% Elsevier 54 publications, 15.52%
Springer Nature	Springer Nature, 48, 13.79% Springer Nature 48 publications, 13.79%
SAGE	SAGE, 6, 1.72% SAGE 6 publications, 1.72%
IOP Publishing	IOP Publishing, 6, 1.72% IOP Publishing 6 publications, 1.72%
Taylor & Francis	Taylor & Francis, 5, 1.44% Taylor & Francis 5 publications, 1.44%
Frontiers Media S.A.	Frontiers Media S.A., 3, 0.86% Frontiers Media S.A. 3 publications, 0.86%
World Scientific	World Scientific, 3, 0.86% World Scientific 3 publications, 0.86%
Hindawi Limited	Hindawi Limited, 3, 0.86% Hindawi Limited 3 publications, 0.86%
Research Square Platform LLC	Research Square Platform LLC, 3, 0.86% Research Square Platform LLC 3 publications, 0.86%
Instrument Society of America	Instrument Society of America, 2, 0.57% Instrument Society of America 2 publications, 0.57%
Public Library of Science (PLoS)	Public Library of Science (PLoS), 2, 0.57% Public Library of Science (PLoS) 2 publications, 0.57%
SAE International	SAE International, 2, 0.57% SAE International 2 publications, 0.57%
AIP Publishing	AIP Publishing, 2, 0.57% AIP Publishing 2 publications, 0.57%
Cambridge University Press	Cambridge University Press, 2, 0.57% Cambridge University Press 2 publications, 0.57%
The Korean Society of Precision Engineering	The Korean Society of Precision Engineering, 1, 0.29% The Korean Society of Precision Engineering 1 publication, 0.29%
Association for Computing Machinery (ACM)	Association for Computing Machinery (ACM), 1, 0.29% Association for Computing Machinery (ACM) 1 publication, 0.29%
SPIE-Intl Soc Optical Eng	SPIE-Intl Soc Optical Eng, 1, 0.29% SPIE-Intl Soc Optical Eng 1 publication, 0.29%
Emerald	Emerald, 1, 0.29% Emerald 1 publication, 0.29%
OAE Publishing Inc.	OAE Publishing Inc., 1, 0.29% OAE Publishing Inc. 1 publication, 0.29%
Fuji Technology Press	Fuji Technology Press, 1, 0.29% Fuji Technology Press 1 publication, 0.29%
Wiley	Wiley, 1, 0.29% Wiley 1 publication, 0.29%
	20 40 60 80 100 120 140

We do not take into account publications without a DOI.
Statistics recalculated weekly.

Are you a researcher?

Create a profile to get free access to personal recommendations for colleagues and new articles.

Metrics

349

Cite this

GOST |

Cite this

GOST Copy

Tang G. et al. Geometric A-Star Algorithm: An Improved A-Star Algorithm for AGV Path Planning in a Port Environment // IEEE Access. 2021. Vol. 9. pp. 59196-59210.

GOST all authors (up to 50) Copy

Tang G., Tang C., Claramunt C., Hu Xiong, Zhou P. Geometric A-Star Algorithm: An Improved A-Star Algorithm for AGV Path Planning in a Port Environment // IEEE Access. 2021. Vol. 9. pp. 59196-59210.

RIS |

Cite this

RIS Copy

TY - JOUR

DO - 10.1109/access.2021.3070054

UR - https://doi.org/10.1109/access.2021.3070054

TI - Geometric A-Star Algorithm: An Improved A-Star Algorithm for AGV Path Planning in a Port Environment

T2 - IEEE Access

AU - Tang, Gang

AU - Tang, Congqiang

AU - Claramunt, Christophe

AU - Hu Xiong

AU - Zhou, Peipei

PY - 2021

DA - 2021/03/31

PB - Institute of Electrical and Electronics Engineers (IEEE)

SP - 59196-59210

VL - 9

SN - 2169-3536

ER -

BibTex

Cite this

BibTex (up to 50 authors) Copy

@article{2021_Tang,

author = {Gang Tang and Congqiang Tang and Christophe Claramunt and Hu Xiong and Peipei Zhou},

title = {Geometric A-Star Algorithm: An Improved A-Star Algorithm for AGV Path Planning in a Port Environment},

journal = {IEEE Access},

year = {2021},

volume = {9},

publisher = {Institute of Electrical and Electronics Engineers (IEEE)},

month = {mar},

url = {https://doi.org/10.1109/access.2021.3070054},

pages = {59196--59210},

doi = {10.1109/access.2021.3070054}

}

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Journal

IEEE Access

scimago Q1

wos Q2

SJR

0.849

CiteScore

9.0

Impact factor

3.6

ISSN

21693536 (Print, Electronic)