Navigation planning for mobile robotic devices in modular warehouses

This paper deals with the problem of navigation and planning of an automated warehouse equipped with mobile robotic devices. A generalised layout of the warehouse is considered here, which is a modular construction type. The path planning algorithm (optimises the path for the shortest distance to the goal) and the collision avoidance strategy for a multiple robot environment are developed based on velocity and distance bounds. The landmarks are assumed to supply all pertiment information regarding the module identification and the movement directions, while the sensors are assumed to be capable of maintaining the robot in its correct track and understand the knowledge contained in the landmarks. The path planning and collision avoidance algorithms are programmed and simulated for a multiple robot environment in a construction site warehouse.