Design of Path Planning System for Multi-Agent AGV Using AAlgorithm

Andi Yuda Pratama*, Muhammad Rizal Ariyadi, Mohamad Nasyir Tamara, Didik Setyo Purnomo, Novan Asdianto Ramadhan, Bambang Pramujati

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This study aims to design an efficient path-planning system for Multi-Agent AGV. The path planning system developed is based on an improved A∗ algorithm to be able to control the path division for several AGVs that operate without a collision. Path planning will be placed on the server to receive input from each AGV in the form of start coordinates and goal coordinates that they will achieve. From some of the incoming input from several AGVs, A∗ which has been added to the collision calculation function will look for the multi-AGV collision points. A collision point is defined as a point from different AGVs that have the same coordinates and are on the same road order. The stopping point of one AGV will also be the crash point of another AGV. The crash point is then defined as a new obstacle point which is used as input for the next path-planning process. The path planning process is iterated until all AGVs find path points that are safe from collisions. The simulation results show that using the collision calculation method, the enhanced A∗ algorithm produces multi-paths with zero collisions.

Original languageEnglish
Title of host publicationIES 2023 - International Electronics Symposium
Subtitle of host publicationUnlocking the Potential of Immersive Technology to Live a Better Life, Proceeding
EditorsAndhik Ampuh Yunanto, Afifah Dwi Ramadhani, Yanuar Risah Prayogi, Putu Agus Mahadi Putra, Maretha Ruswiansari, Mohamad Ridwan, Farida Gamar, Weny Mistarika Rahmawati, Rusli Muhammad Rusli, Fitrah Maharani Humaira, Ahmad Firyal Adila
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9798350314731
Publication statusPublished - 2023
Event25th International Electronics Symposium, IES 2023 - Denpasar, Indonesia
Duration: 8 Aug 202310 Aug 2023

Publication series

NameIES 2023 - International Electronics Symposium: Unlocking the Potential of Immersive Technology to Live a Better Life, Proceeding


Conference25th International Electronics Symposium, IES 2023


  • Collision Management
  • Mobile Robot
  • Multi AGV
  • Path Allocation
  • Positioning


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