Simulation of the Optimal Path of a Mobile Robot in Warehouses Using A-Star Algorithm

Due to the advancement of warehouse automation, the manpower cost and technological requirements involved can become a limiting factor for various companies. For this reason, this article aims to emulate a virtual warehouse scenario with a mobile robot Pioneer 3DX and Mirobot which perform pack-age-picking tasks based on making optimal path planning inside of ware-houses through grid map. Besides that, It simulates several modified factor grid maps focusing on computational time and short path using an improved A* algorithm, where the CoppeliaSim platform simulates the results of the optimal path planning to complete the mobile robot’s task efficiently. Because of these evaluations, it is possible to choose a path planning fitted for several warehouse sizes and reduce energy at equipment operation.