A Path Planning Method for Four-way Shuttles Based on an Improved A*Algorithm
CHEN Xiaosong
LIU Qiang
ZHAO Rongli
YAN Duxi
Abstract：The four-way shuttle-based high-density storage system represents a new generation of stereoscopic warehouse solutions in high-density and complex environments.This paper aims to solve the problem that four-way shuttles tend to experience frequent turns and visit many invalid nodes during operation with defective areas,resulting in long task execution time and low algorithm search efficiency.By establishing a topological map of the storage environment,the search performance of different heuristic estimation functions in the four-way shuttle topological map is compared and analyzed.In scenarios with defective areas that may lead to significant deviations between heuristic estimates and actual path cost,a triangle-based heuristic method is introduced to improve the A*algorithm.A simulation platform for the four-way shuttle-based high-density storage system is constructed to verify the effectiveness of the proposed method.Simulation results show that the improved A* algorithm can effectively reduce the number of explored nodes and turning points,thereby improving the search efficiency.
Keywords：dense storagefour-way shuttlespath planningA*algorithm
Publication Date：2025-08-30
Online Publishing Date：2025-09-22(First online date of this platform, not the publication date of the document)
Pages：11( 34-44 )