Dijkstra's algorithm in AGV

The path planning is a very important part of AGV control. Firstly, The OpenCV is called to fitting the contour of obstacles with polygon and to optimize the result. Then a model of AGV work space is built by the method of network topology. So the problem of AGV path planning can be transformed into the problem of searching for the shortest path of the network topology. In the process of searching, Try and error method and Dijkstra's algorithm are respectively used to get the optimal or approximate optimal path, and finally gets a complete plan by comparing the result of two algorithms.