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AGV path planning based on Voronoi skeleton for narrow roads
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Ping Wang1, 2, Hao Zhang1, Youming Tang**, 3, Yi Zhang1, 2
China Safety Science Journal | 2026, 36(4) : 194 - 203
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China Safety Science Journal | 2026, 36(4): 194-203
• Public Safety and Emergency Management •
AGV path planning based on Voronoi skeleton for narrow roads
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Ping Wang1, 2, Hao Zhang1, Youming Tang**, 3, Yi Zhang1, 2
Affiliations
  • 1School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen Fujian 361024, China
  • 2Fujian Province Key Laboratory of Advanced Bus Design and Manufacturing, Xiamen Fujian 361024, China
  • 3School of Intelligent Manufacturing and Energy Engineering, Zhejiang University of Science and Technology, Hangzhou Zhejiang 310023, China
Published: 2026-04-28 doi: 10.16265/j.cnki.issn1003-3033.2026.04.0245
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This paper addressed the issues of insufficient safety distance, unsmooth path, and low planning efficiency in AGV path planning in narrow road scenarios. A new path planning method based on Voronoi skeletons for narrow roads was proposed. Firstly, the key nodes of the Voronoi skeleton were extracted to generate a custom Voronoi graph layer, which was then combined with static, obstacle, and expansion layers to iteratively generate a four-layer network structure cost map, accurately distinguishing the influence range of obstacles. Secondly, the new cost map was used as a constraint in conjunction with an improved A* algorithm for global path planning, guiding the AGV to drive along the center of the road to ensure its safety. Finally, the global path was optimized using B-spline smoothing to improve the AGV's efficiency and stability in navigating narrow roads and other complex scenarios. Experimental results show that, in narrow road scenarios, the safety of the AGV path planning is improved by 82%, the number of spatial corners is reduced by 55.85%, and the path planning time is shortened by 48.98%. The proposed algorithm effectively enhances the robustness, dynamic obstacle avoidance, and real-time performance of path planning in narrow road scenarios, enabling the AGV to move in the safest manner.

Voronoi skeleton  /  narrow roads  /  automated guided vehicle (AGV)  /  path planning  /  four-layer network structure  /  B-spline optimization
Ping Wang, Hao Zhang, Youming Tang, Yi Zhang. AGV path planning based on Voronoi skeleton for narrow roads[J]. China Safety Science Journal, 2026 , 36 (4) : 194 -203 . DOI: 10.16265/j.cnki.issn1003-3033.2026.04.0245
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Year 2026 volume 36 Issue 4
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Article Info
doi: 10.16265/j.cnki.issn1003-3033.2026.04.0245
  • Receive Date：2025-11-04
  • Online Date：2026-07-08
  • Published：2026-04-28
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  • Received：2025-11-04
  • Revised：2026-01-17
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Affiliations
    1School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen Fujian 361024, China
    2Fujian Province Key Laboratory of Advanced Bus Design and Manufacturing, Xiamen Fujian 361024, China
    3School of Intelligent Manufacturing and Energy Engineering, Zhejiang University of Science and Technology, Hangzhou Zhejiang 310023, China
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https://castjournals.cast.org.cn/joweb/zgaqkxxb/EN/10.16265/j.cnki.issn1003-3033.2026.04.0245
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