A Collision-Free Path Planning Algorithm for Non-Complex ASRS Using Heuristic Functions

摘要

Automated storage and retrieval systems (ASRS) are designed for automated storage and retrieval of parts and items in specific locations within manufacturing, warehouses, institutions, etc. ASRS systems offer many advantages, including improved accuracy, efficiency and productivity, and reduced safety risks for employees. These systems are usually comprised of predefined locations where machines can follow established routes to get items. The Path planning belongs to shortest path problem. It can be solved via various algorithms such as graph theory, dynamic programming, neural network, etc. In this paper, a simple and efficient algorithm to find the path planning with collision-free for non-complex automated storage systems is developed. An enhanced version of A <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm is proposed to find the shortest path from a source node to a destination node. Moreover, we proposed two heuristic functions, namely H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</inf> and H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</inf> . Finally, we developed a simulation model to evaluate the performance of our proposed scheme. Therefore, different simulations scenarios, in terms of number of robots, types and numbers of obstacles are carried out. Simulation results show the efficiency of the proposed collision-free path planning algorithm.