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Adaptive path finding algorithm in dynamic environment for warehouse robot

Warehouse robots have been widely used by manufacturers and online retailer to automate good delivery process. One of the fundamental components when designing a warehouse robot is path finding algorithm. In the past, many path finding algorithms had been proposed to identify the optimal path and im...

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Main Authors: Ng, Mun Kit, Chong, Yung Wey, Ko, Kwang man, Park, Young Hoon, Leau, Yu Beng
Format: Article
Language:English
Published: Springer 2020
Subjects:
TJ Mechanical engineering and machinery
Online Access:https://eprints.ums.edu.my/id/eprint/25314/7/Adaptive%20path%20finding%20algorithm%20in%20dynamic%20environment%20for%20warehouse%20robot.pdf
https://eprints.ums.edu.my/id/eprint/25314/
https://doi.org/10.1007/s00521-020-04764-3
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spelling my.ums.eprints.253142020-04-17T15:43:04Z https://eprints.ums.edu.my/id/eprint/25314/ Adaptive path finding algorithm in dynamic environment for warehouse robot Ng, Mun Kit Chong, Yung Wey Ko, Kwang man Park, Young Hoon Leau, Yu Beng TJ Mechanical engineering and machinery Warehouse robots have been widely used by manufacturers and online retailer to automate good delivery process. One of the fundamental components when designing a warehouse robot is path finding algorithm. In the past, many path finding algorithms had been proposed to identify the optimal path and improve the efficiency in different conditions. For example, A* path finding algorithm is developed to obtain the shortest path, while D* obtains a complete coverage path from source to destination. Although these algorithms improved the efficiency in path finding, dynamic obstacle that may exist in warehouse environment was not considered. This paper presents AD* algorithm, a path finding algorithm that works in dynamic environment for warehouse robot. AD* algorithm is able to detect not only static obstacle but also dynamic obstacles while operating in warehouse environment. In dynamic obstacle path prediction, image of the warehouse environment is processed to identify and track obstacles in the path. The image is pre-processed using perspective transformation, dilation and erosion. Once obstacle has been identified using background subtraction, the server will track and predict future path of the dynamic object to avoid the obstacle. Springer 2020 Article PeerReviewed text en https://eprints.ums.edu.my/id/eprint/25314/7/Adaptive%20path%20finding%20algorithm%20in%20dynamic%20environment%20for%20warehouse%20robot.pdf Ng, Mun Kit and Chong, Yung Wey and Ko, Kwang man and Park, Young Hoon and Leau, Yu Beng (2020) Adaptive path finding algorithm in dynamic environment for warehouse robot. Neural Computing and Applications. ISSN 0941-0643 https://doi.org/10.1007/s00521-020-04764-3
institution Universiti Malaysia Sabah
building UMS Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Sabah
content_source UMS Institutional Repository
url_provider http://eprints.ums.edu.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Ng, Mun Kit
Chong, Yung Wey
Ko, Kwang man
Park, Young Hoon
Leau, Yu Beng
Adaptive path finding algorithm in dynamic environment for warehouse robot
description Warehouse robots have been widely used by manufacturers and online retailer to automate good delivery process. One of the fundamental components when designing a warehouse robot is path finding algorithm. In the past, many path finding algorithms had been proposed to identify the optimal path and improve the efficiency in different conditions. For example, A* path finding algorithm is developed to obtain the shortest path, while D* obtains a complete coverage path from source to destination. Although these algorithms improved the efficiency in path finding, dynamic obstacle that may exist in warehouse environment was not considered. This paper presents AD* algorithm, a path finding algorithm that works in dynamic environment for warehouse robot. AD* algorithm is able to detect not only static obstacle but also dynamic obstacles while operating in warehouse environment. In dynamic obstacle path prediction, image of the warehouse environment is processed to identify and track obstacles in the path. The image is pre-processed using perspective transformation, dilation and erosion. Once obstacle has been identified using background subtraction, the server will track and predict future path of the dynamic object to avoid the obstacle.
format Article
author Ng, Mun Kit
Chong, Yung Wey
Ko, Kwang man
Park, Young Hoon
Leau, Yu Beng
author_facet Ng, Mun Kit
Chong, Yung Wey
Ko, Kwang man
Park, Young Hoon
Leau, Yu Beng
author_sort Ng, Mun Kit
title Adaptive path finding algorithm in dynamic environment for warehouse robot
title_short Adaptive path finding algorithm in dynamic environment for warehouse robot
title_full Adaptive path finding algorithm in dynamic environment for warehouse robot
title_fullStr Adaptive path finding algorithm in dynamic environment for warehouse robot
title_full_unstemmed Adaptive path finding algorithm in dynamic environment for warehouse robot
title_sort adaptive path finding algorithm in dynamic environment for warehouse robot
publisher Springer
publishDate 2020
url https://eprints.ums.edu.my/id/eprint/25314/7/Adaptive%20path%20finding%20algorithm%20in%20dynamic%20environment%20for%20warehouse%20robot.pdf
https://eprints.ums.edu.my/id/eprint/25314/
https://doi.org/10.1007/s00521-020-04764-3
_version_ 1760230352589160448
score 13.211869

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