A Two-Stage Path Planning Method for the Rearrangement Problem in Modular Puzzle-Based Storage System

Algorithm 4

SMPBPD (D, S).

	Input: set of exchange demands D. the current state
	Output: single move plan of stocking module.
(1)	Initialize, ,
(2)	whiledo
(3)
(4)	if type(d) = 0 then
(5)	= MPOCS(S, ip, next(ip), 1),  = MPOCS(S, ip, previous(ip), -1)
(6)	,
(7)	else
(8)	foreachdo
(9)	=(S, slot(s), ip, 1), =(S, slot(s), ip, -1)
(10)	,
(11)	end foreach
(12)	, ,
(13)	end if
(14)
(15)	end while
(16)	return