Multi-Objective Path Planning for Warehouse Inspection of Mobile Robots Considering Power Limitations and Multiple Charging Points

In large-scale warehouses, mobile robots often face energy shortages during inspection tasks, necessitating multiple charging points. Considering battery limits and multiple charging points makes path planning challenging. This paper presents a two-level solution: (i) local path planning via improved B-RRT* (adaptive Gaussian sampling + dynamic goal bias) to build a path-cost matrix, and (ii) global inspection and charging scheduling under multi-charging-point constraints. We evaluate planning time, total path length (as an energy proxy), and the number of sampling points. Experimental results demonstrate that the improved B-RRT* algorithm achieves an average reduction of 10–15% in path length, 20–30% in computation time, and 15–40% in the number of sampling points compared to the initial B-RRT* and RRT* algorithms across various warehouse environments. For global planning with up to 60 inspection targets and 3–5 charging points, a feasible charging schedule is obtained within 150–360 s on a standard desktop (Ryzen 7 5800H, 16 GB RAM), demonstrating strong practicality and scalability.