Dynamic Path Planning of Intelligent Warehouse Robot Based on Improved A* Algorithm

Abstract

An improved A* path planning algorithm based on an appointment table and obstacle map is proposed in this paper in order to reduce the possible route conflicts. Besides, the coordination and cooperation of multi-robot systems are improved while performing warehousing and logistics tasks, realizing the optimal distribution path planning according to the location of multiple robots. Firstly, the robot platform is built through the NI myRIO main control system, and the storage environment model is set up based on the LabVIEW graphical development tool. Secondly, the improved A* algorithm based on the reservation table and obstacle map is used to obtain the multi-robot position and obstacle map in real-time so that the obstacle map could be utilized to realize the optimal path planning. Dynamic obstacle avoidance is implemented in combination with the robot load priority. Finally, the feasibility of the proposed method is verified in the LabVIEW development environment. The results show that the proposed method completes the collaborative cooperation of multiple robots, avoiding the route conflict and realizing the optimal path planning.