# Willy Nolan

## Project

Project Title Description

The goal of this project was to implement planning and control algorithms to guide a simulated robot through a warehouse.

The warehouse layout is described with an ASCII file where # symbols represent walls, numbers represent packages that need to be retrieved, A represents the starting position, .s represent traversable space and the @ symbol represents the drop zone.

A warehouse layout for the featured images would be given as the following:

.0#..
.....
..#1.
.....
A...@


The rules are as follows:

• - Packages must be picked up and dropped off in order
• - The robot cannot come within a certain distance of the walls or the drop off location
• - There are limits on the amount the robot can rotate in each time step
• - More efficient routes are preferred

The challenge is that packages are located in fractional -- not integer -- locations. My research solved this through discretization of the provided warehouse layout file and precise calculation of the robot heading.

The two featured images show the layout of a simple warehouse with two packages. A brief overview for picking up and delivering one of the packages is shown in the second image. The green arrows show where pick up or drop offs happen.

A video showing the completion of a more complex warehouse layout is also shown.