Research Article
A Two-Stage Path Planning Method for the Rearrangement Problem in Modular Puzzle-Based Storage System
Algorithm 3
MPOCS (S, isrc, ides, dir).
| | Input: the current state S, the source slot isrc of item, the destination slot ides to be moved to, the moving direction dir. | | | Output: single move sequence that moves the item at slot isrc to slot ides. | | (1) | Initialize, | | (2) | if dir = 1 then | | (3) | | | (4) | whiledo | | (5) | itemp = next | | (6) | while type(itemp)≠0 do | | (7) | itemp = next(itemp) | | (8) | end while | | (9) | , , update S | | (10) | if = previous(itemp) then | | (11) | = next | | (12) | end if | | (13) | end while | | (14) | else | | (15) | | | (16) | whiledo | | (17) | itemp = previous | | (18) | while type(itemp)≠0 do | | (19) | itemp = previous(itemp) | | (20) | end while | | (21) | , , update S | | (22) | if = next(itemp) then | | (23) | = previous | | (24) | end if | | (25) | end while | | (26) | end if | | (27) | return |
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