A Coordinated Path Planning Algorithm for MultiRobot in Intelligent Warehouse * In this paper, we study the coordinated path planning problem of multirobot in intelligent warehouse. We first describe the problem of the multirobot path planning and analyze the basic structure of the intelligent warehouse system. Then we discuss the adjustment of multirobot 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.

An Improved Dynamic Window Approach Integrated Global Path Planning Aiming at the shortcomings of dynamic windowing algorithm (DWA) into local optimal solution. This work studys a modified DWA algorithm integrated global path planning. By introducing the result of global path planning as a reference trajectory, a novel evaluation function is designed which makes the optimal trajectory be guaranteed. In addition, the work also proposes the evaluation subfunction of direction, the evaluation subfunction of smoothing speed and the evaluation subfunction of acceleration, separately, ensures the direction, smoothness and speed of movement. The algorithm is verified in mobile robot, experimental results show that the algorithm optimizes the path of mobile robot, simultaneously, the advantages of the traditional DWA, such as the practicability and continuity of motion are retained.