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Turn and orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems | IEEE Conference Publication | IEEE Xplore

Turn and orientation Sensitive A* for Autonomous Vehicles in Intelligent Material Handling Systems


Abstract:

Autonomous mobile robots are taking on more tasks in warehouses, speeding up operations and reducing accidents that claim many lives each year. This paper proposes a dyna...Show More

Abstract:

Autonomous mobile robots are taking on more tasks in warehouses, speeding up operations and reducing accidents that claim many lives each year. This paper proposes a dynamic path planning algorithm, based on \mathrm{A}^{*} search method for large autonomous mobile robots such as forklifts, and generates an optimized, time-efficient path. Simulation results of the proposed turn and orientation sensitive \mathrm{A}^{*} algorithm show that it has a 94% success rate of computing a better or similar path compared to that of default \mathrm{A}^{*}. The generated paths are smoother, have fewer turns, resulting in faster execution of tasks. The method also robustly handles unexpected obstacles in the path.
Date of Conference: 20-21 August 2020
Date Added to IEEE Xplore: 08 October 2020
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Conference Location: Hong Kong, China

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