Navigation of Mobile Robot in a Warehouse Environment
Lekshmi J Mohan, Joaquim Ignatious · 2018 International Conference on Emerging Trends and Innovations In Engineering And Technological Research (ICETIETR) · 2018
Path planning of a mobile robot based on occupancy grid map is discussed in this paper. The A star algorithm was modified to suit the warehouse environment. Optimal path is generated by revisiting the already traversed nodes if they lie in the shortest direction towards the target. The algorithm also monitors the battery health of the robot while planning a path. The algorithm was simulated in Matlab and also verified using a mobile robot.