Research Article

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

Algorithm 2

SMPBM (, , , ).
Input: order , current state S, optimal matched group .
Output: single move plan , set of exchange demands D.
(1) Initialize, ,
(2)whiledo
(3)  ifthen
(4)   Item type qi in is unmatched, type(d) = qi
(5)    = MPOCS(S, ip, next(ip), 1),  = MPOCS(S, ip, previous(ip), -1)
(6)   
(7)   , , update ,
(8)  elseifandandthen
(9)   foreach
(10)     = MPOCS(S, slot(s), ip, 1),  = MPOCS(S, slot(s), ip, −1)
(11)    , ,
(12)    , , update ,
(13)   end foreach
(14)  end if
(15)  
(16)end while
(17)return , D