An improved A* algorithm based on time windows is proposed to solve the conflict-free path planning problem for automated guided vehicles (AGVs). In particular, a more accurate estimation of turn times is introduced, which allows for a more accurate prediction of node conflicts during the path planning phase. In addition, a more accurate estimation of the heuristic value in the A* evaluation function is introduced, which can further speed up the path search process since some suboptimal path candidates will not be examined in the process.
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