A Study on Hamiltonian Cycle-Based Path Planning for Multiple Robot-Single Station Docking Problem

Abstract

Nowadays, robotic technologies are widely used for logistics by the increase of user demands on fast and accurate delivery. Amazon's logistics management system based on KIVA robot system is one of the most representative and innovative cases for robotic application in logistics. Like other robotic applications, path planning of KIVA robot system also have been developed based on A*-like algorithm which is one of the most efficient ways for single robot path planning. But, A*-like algorithm is not optimally efficient for the case of KIVA-like multiple robot station docking problem. Therefore, a novel Hamiltonian cycle-based path planning algorithm has been proposed to solve multiple robot-single station docking problem.