The repository is for the Bachelor's degree thesis. It is about indoor map data structure considering some traffic rules. This is a project which is the simulation of the pathplanning with traffic rules in the warehouse for robots.
Platform: Unity3D
The compiler version is 2021.3.32f1c1.
In this project, we use the tradictional A* algorithm, and the improved A* algorithm to test our indoor map data structure. For the tradictional A* algorithm, we use distance as the cost to calculate the function g(x). And the h(x) function is the Euclid distance function. But in the improved A* algorithm, we use the time as the cost to calculate the functions. We set the speed as the input parameter. When selecting the neighbors, the algorithm will detect whether the neighbor is intersection, if it is, the speed will multiply a deacceleration factor. And we do this only for compatibility with the newly proposed indoor map data structure which contains the traffic rules information.
The indoor map data structure contains some information about the indoor traffic rules, which will be useful for the robots. And the json schema can be seem here: indoorjson3.
In the experiment of newly-proposed data structure model, we test its effectiveness.
First, we design a map which is 25*20, and it is more like a warehouse environment. After that, we set some traffic rules like speed limit. And the details can be seen in the project. The results are shown in these two videos. For the two videos, we set the default speed for robots as 7, and there are some areas where speed is strictly limited. Because of the introduction of traffic rules, the pathplanning results are different, which is more compatible for the management of large scale of robots.