<![CDATA[Hierarchical Pathfinding A* (HPA*) is a hierarchical search framework that partitions grid‑based environments into clusters to reduce computational time while preserving a near-optimal path. The warehouse layout features cross-aisle connectivity, and multi-order optimization is performed using the HPA* algorithm, which integrates travel times with multi-rack picking times to the objective cost function. We simulate by assigning 30 random orders, with a total of 10641 items stored in the warehouse and 10 item types. The travel time is calculated assuming a picker has a constant speed of 1.2 m/s along edges, the picking time is proportional to the number of items picked per rack, and a small warehouse layout. Estimated cycle times of the orders (travel plus picking time) range from 114.4 to 349.9 seconds using the HPA* optimization, with a mean of 232.0 seconds. From the optimization results, orders require an average of 5.2 rack visits, ensuring that the picker travels more than two racks per order. The HPA* reduces the original low‑level graph (50 nodes and 61 edges, including base and stage station) to a graph with 22 nodes and 17 edges, enabling faster route computation while preserving observed cycle‑time patterns when combined with picking-time durations. Compared to A*, given the layout and orders, HPA* demonstrates an efficient warehouse path‑planning method that reduces search computation while maintaining near‑optimal routing performance.]]>
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