Abstract: In this paper,a dynamic routing method based on time window model was presented for dealing with multi-AGV path planning problem in warehouse.Firstly,A* algorithm is used for completing path routing of multiple AGV.Secondly,the time for AGV passing through the path node’s is calculated.Multi-AGV conflict issues is solved by inserting the time window into path and updating time window.Furthermore,through dynamic allocation of priority for the multi-AGV,the efficiency of system is enhanced.Finally,when the obstacles are in the path,by dynamically changing the path weight,real-time obstacle avoidance is achieved.The simulation results show that the proposed algorithm can effectively avoid collision under the condition of optimal path,the method can not only improve the system efficiency,but also has good adaptability and robustness in dynamic environment.

Key words: Automated guided vehicle,Path planning,Time window,Conflict-free,Real time obstacle avoidance