Development of storage and retrieval algorithms for automated parking systems

Abstract

This thesis presents development of a complete suite of informed search algorithms to manage multiple concurrent requests, in real time and in a dynamic context, for storage and retrieval of robotic load-carrying carts for a fully-automated and driving-free parking lots or storage warehouses.A set of informed search algorithms including D* Lite and A* with domain-specific heuristics, and the uninformed search algorithm Uniform Cost Search are integrated for path search and planning in a completely-automated framework.The problem domain is considered as a rectangular array of parking or storage cells with