Application of the A* Algorithm for Navigation of Workers in Simulation Models of Railway Yards

Modelling the movement of workers in detailed railway yard simulation models can be accomplished by adaptation of universal pedestrian simulation models. While the modelling of walking behaviour remains almost identical, specific approach to pathfinding is desirable — mostly due to rules of movement in the environment and its dynamic changes. The paper presents modification of typical * pathfinding algorithm, which enables safe navigation of railyard worker agents in specific environment of railway yards. Proposed algorithm utilizes the concept of walkability and takes into account areas with different level of hazard. Such approach can be expanded to consider dynamic moving obstacles typical for railway yards (i.e. moving trains) as well. We present the construction of navigation structures and the algorithm of routing of railyard worker agents utilizing such structure. Proposed solution has been successfully tested in simulation model of marshalling yard.