A Coordinated Path Planning Algorithm for Multi-Robot in Intelligent Warehouse*

Abstract

In this paper, we study the coordinated path planning problem of multi-robot in intelligent warehouse. We first describe the problem of the multi-robot path planning and analyze the basic structure of the intelligent warehouse system. Then we discuss the adjustment of multi-robot path planning algorithm from two aspects. We reserve the path information of the continuous time period in the reservation table of the Windowed Hierarchical Cooperative A* (WHCA*) algorithm, and analyze whether to reuse the path information each time the algorithm is invoked. Then on the basis of this, we introduce the turning factor as a measure when expanding a path, and hope to find the path with fewer turns to reduce the travel time of the robot. Finally, we do some experiments and make the analysis. The results show that the methods we used can improve the path planning efficiency of the robot and increase the order throughput of the intelligent warehouse system.