Continuous Path Planning for Multi-Robot in Intelligent Warehouse

Abstract

In smart warehouses, logistics robots need to continuously execute tasks, and therefore traditional onetime multi-robot path planning cannot meet practical needs.To address this challenge, we proposed Prejudgment Conflicts Search (SPC) algorithm.The SPC algorithm is divided into two layers: the higher layer allocates tasks to robots based on priority rules, and the lower layer plans paths for these robots with an improved A* algorithm, which includes vertex and edge collision checks during path searching and effectively prevents collisions among robots.We simulated SPC and Conflict-Based Search (CBS) on random maps and warehouse maps.The results show that compared to CBS, SPC provides nearly optimal paths with a significantly reduced computation time.Additionally, as the number of robots increases, SPC exhibits better scalability, offering a practical solution for continuous multi-robot path planning in smart warehouses, with the potential to enhance logistics efficiency.