AGV Path Smoothing Optimization Based on the Improved JPS Algorithm

LI Qianqian; LIU Yingying; XING Youren; WANG Mengmei; LI Can; XIA Zhenglong

doi:10.19554/j.cnki.1001-3563.2026.13.024

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Packaging Engineering ›› 2026, Vol. 47 ›› Issue (13) : 215-222. DOI: 10.19554/j.cnki.1001-3563.2026.13.024

Automatic and Intelligent Technology

AGV Path Smoothing Optimization Based on the Improved JPS Algorithm

LI Qianqian¹, LIU Yingying^2*, XING Youren², WANG Mengmei¹, LI Can², XIA Zhenglong²

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Abstract

The work aims to address the issues of excessive redundant nodes, high memory consumption, and inadequate path smoothness and safety in traditional Jump Point Search (JPS) algorithms for path planning, thereby improving the operational efficiency and safety of Automated Guided Vehicles (AGVs). Firstly, a bidirectional search strategy was introduced, performing jump point searches simultaneously from the start and goal nodes with iterative optimization. Secondly, the evaluation function was improved by incorporating a dynamic adaptive coefficient into the heuristic function. Thirdly, a redundant node removal strategy was adopted, replacing unnecessary turns with safe line segments. Finally, path corners were processed with arc smoothing to enhance path smoothness. Simulation results demonstrated that, compared to the traditional algorithm, the improved algorithm reduced path length, shortened search time, decreased the number of turns, and yielded a smoother travel path, while maintaining path safety. The improved algorithm significantly enhances path smoothness, safety, and real-time performance, making it well-suited for AGV navigation in complex environments.

Key words

path planning / jump point search / bidirectional search / smooth optimization

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LI Qianqian, LIU Yingying, XING Youren, WANG Mengmei, LI Can, XIA Zhenglong. AGV Path Smoothing Optimization Based on the Improved JPS Algorithm[J]. Packaging Engineering. 2026, 47(13): 215-222 https://doi.org/10.19554/j.cnki.1001-3563.2026.13.024

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