Development of collision free path planning algorithm for warehouse mobile robot

Abstract

The demand for application of mobile robots in performing boring and extensive tasks are increasing rapidly due to unavailability of human workforce. Navigation by humans within the warehouse is one among such repetitive and exhaustive task. Autonomous navigation of mobile robots for picking and dropping the shelves within the warehouse will save time and money for the warehousing business. In order to autonomously navigate within the warehouse, the mobile robot requires a path planning algorithm. This path planning algorithm generates a collision free path from the start point to goal point for the mobile robot. Robot's charging area, shelves and consolidation area would be the possible start point and the goal point would be the shelves which depends on the customer's order. In this algorithm, the robot will move towards the goal point if the robot's neighboring point closer to the goal point is vacant. The developed collision free path planning algorithm is simulated in MATLAB and the developed algorithm generates feasible path for traditional parallel, traditional vertical, traditional horizontal, fishbone types of layouts in warehouse with various start and goal point.