Path Planning Methods for Four-Way Shuttles in Dynamic Environments Based on A* and CBS Algorithms
In the four-way shuttle system, the efficiency of path planning directly affects the overall effectiveness of logistics and warehousing operations. Traditional path planning methods for multiple four-way shuttles do not take into account the fact that the map status will change as the inbound and ou...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-05-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/13/10/1588 |
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| Summary: | In the four-way shuttle system, the efficiency of path planning directly affects the overall effectiveness of logistics and warehousing operations. Traditional path planning methods for multiple four-way shuttles do not take into account the fact that the map status will change as the inbound and outbound tasks are completed. To address this issue, a path planning algorithm for dynamic environments based on an improved Conflict-Based Search (CBS) mechanism is proposed. Firstly, by introducing turning constraints and a node expansion strategy, the A* algorithm is improved, reducing the number of turns and optimizing the node expansion process. Secondly, based on the improved A* algorithm, a path planning algorithm for dynamic environments based on CBS is designed. This algorithm adopts the inbound/outbound task priority strategy and the nearby-task priority strategy to resolve conflicts. It effectively manages the changes in the map status by establishing and maintaining a “ChangeList” and revises the path set of the four-way shuttles. Based on the layout of the intelligent vertical warehouse with four-way shuttles of a certain enterprise, simulation experiments were carried out using a rasterized map. The algorithm was compared with the DCBS-PFM and RRT-A algorithms, verifying the effectiveness and superiority of the algorithm. |
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| ISSN: | 2227-7390 |