If I was going to build a simulator for robots in a warehouse I would start off by building an API (application programing interface). The api would be the interface your GUI (graphical user interface) uses as a frontend to the simulator. An example of an API is Lejos, Lejos is an API for the nxt.
I assume you are programming in java. If so you could have all the robots in the warehouse represented by java objects with navigator objects build in. This means you could do something like this:
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Robot robot1 = new Robot();
You would then build the java gui that would use this api to manage the simulator.
Building a simulator will not be easy, but don't let that put you off! Break your programming and problems down to make the code easy to manage and develop. Also try to use polymorphism/object orientated programming, this will allow you to take full advantage of java.