**4. Simulation Results and Discussion**

This section discusses the efficacy, occlusion awareness, and closed-loop tractability of our proposed path planner.

## *4.1. Simulation Setup*

Simulations were implemented in a MATLAB + CarSim platform and executed on an Intel Core i9-9900 CPU with 32 GB RAM that runs at 3.10 × 2 GHz. We define a 50 m × 50 m warehouse with eight infrared receivers that are evenly distributed along the four edges of the rectangular ceiling, the height of which is 5 m. The geometric size of each cargo is 5 m × 5 m × h, wherein h is a random value ranging from 0 to 5 m. Other parametric settings are presented in our source codes, which are available at https://github.com/libai1943/OcclusionAwarePathPlanningForAGV (accessed on 8 December 2021).
