Simulation of the Optimal Path of a Mobile Robot in Warehouses Using A-Star Algorithm

Quevedo N.A.; Paredes M.G.S.P.; Ruelas A.M.R. · Smart Innovation, Systems and Technologies (2024) · DOI: 10.1007/978-3-031-66961-3_23

Resumen

Due to the advancement of warehouse automation, the manpower cost and technological requirements involved can become a limiting factor for various companies. For this reason, this article aims to emulate a virtual warehouse scenario with a mobile robot Pioneer 3DX and Mirobot which perform pack-age-picking tasks based on making optimal path planning inside of ware-houses through grid map. Besides that, It simulates several modified factor grid maps focusing on computational time and short path using an improved A* algorithm, where the CoppeliaSim platform simulates the results of the optimal path planning to complete the mobile robot’s task efficiently. Because of these evaluations, it is possible to choose a path planning fitted for several warehouse sizes and reduce energy at equipment operation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

Instituciones: Universidad Tecnológica del Perú