Path Planning for Heterogeneous Robots in ROS based Warehouse Environment

Abstract

Autonomous robots have become an inevitable necessity in many applications with defense and scientific interest. Unmanned rovers are currently playing a crucial role in the field of planetary exploration. Path planning is an essential part of any autonomous robot. This task must be executed in a manner that ensures the robot identifies a viable route without encountering any obstacles in its path. In order to address this challenge, various path planning algorithms, such as Dijkstra, A*, Dynamic A* (D*), Dynamic A* Lite (D* Lite), Rapidly exploring Random Tree (RRT), and Probabilistic Road Map (PRM), have been explored, implemented, and analyzed using Python Idle 3.11. Our research has demonstrated that, for heterogeneous robots, path planning involved the integration of the A* algorithm for global path planning and the Dynamic Window Approach (DWA) algorithm for local path planning.