Path planning for autonomous empty container handler based on A* algorithm and spiral curve optimization strategy

HE Weihan; CUI Guohua; LU Shengyao; ZHANG Ruoping

doi:10.12299/jsues.24-0166

Volume 39 Issue 4

Dec. 2025

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HE Weihan, CUI Guohua, LU Shengyao, ZHANG Ruoping. Path planning for autonomous empty container handler based on A* algorithm and spiral curve optimization strategy[J]. Journal of Shanghai University of Engineering Science, 2025, 39(4): 442-450. doi: 10.12299/jsues.24-0166

Citation:

HE Weihan, CUI Guohua, LU Shengyao, ZHANG Ruoping. Path planning for autonomous empty container handler based on A* algorithm and spiral curve optimization strategy[J]. Journal of Shanghai University of Engineering Science, 2025, 39(4): 442-450. doi: 10.12299/jsues.24-0166

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Path planning for autonomous empty container handler based on A* algorithm and spiral curve optimization strategy

doi: 10.12299/jsues.24-0166

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2024-06-11
Available Online: 2026-02-02
Publish Date: 2025-12-01

Abstract

Abstract

The operational environment of container yards is complex, and achieving precise parking for autonomous empty container handler is a critical problem that need to be solved. To address this, a hybrid strategy combining an improved A* algorithm with polynomial spiral curves was designed. Considering the working conditions and grasping workflow of the empty container handler, a multi-target improved A* global planning algorithm was developed, enabling the sequential traversal of multiple given target points in a single planning process. Furthermore, based on non-holonomic constraints, a local planning strategy utilizing polynomial spiral curves was designed near the final target point. Simulations and analyses were conducted on selected typical operational scenarios to validate the proposed algorithm. The results indicate that the strategy enables the stacker crane to sequentially pass through multiple target points along the global path. After local planning adjustments, it can meet the constraints of the operational target points, thereby fulfilling operational requirements.
- empty container handler,
- multi-target planning,
- multi-constraint conditions,
- improved A* algorithm,
- polynomial spiral curves

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References(18)

References

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