In the beginning an exact virtual warehouse floor plan is created. The two dimensional coordinate system is used.
Based on the floor plan a path finding graph is created using Dijkstra and A* algorithms. The path finding algorithm
uses a type of graph called a directed non-negative weighted graph. Path finding in games is synonymous with the
A* algorithm. A* is simple to implement, very efficient, and has lots of scope for optimization13. In the next step the
warehouse is divided into linked regions that correspond to nodes and connections. In complex situations with more
workers they may need different ways. This can be achieved using division schemes. Each division scheme has three
important properties for localization, generation, and validity.
Fig. 4.