Beckhoff XPlanar is a new revolutionary motion system that transports movers with items on its top, using magnetic levitation (produced by certain tiles, creating a workspace).

The operating area (which is produced by a collection of electromagnetic plates known as tiles) is usually occupied by numerous movers.

However, it may be necessary to relocate these movers out of the way of production in order to verify their payload or even repair them.

As a result, Beckhoff suggested in this Master’s thesis to combine a path planning algorithm with collision avoidance to gather all movers at any state in shape. Through this project, a simulation of the XPlanar system has been developed in order to test the algorithms without using the real system, and a series of multi agent path planning scripts have been studied, written and tested to solve the implementation of a fleet controlling algorithm using the A* logic. Moreover, the path planning algorithm is coupled with a deadlock solving algorithm, allowing multiple robots to work in cooperation in complex scenarios where Xplanars could become obstacles for other movers.