Naslov
A control architecture for warehouse automation - perfromance evaluation in USARSim
(A control architecture for warehouse automation - Perfromance evaluation in USARSim)

Autori
Miklić, Damjan ; Bogdan, Stjepan ; Kalinovčić, Luka

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proc. of IEEE International Conference on Robotics and Automation / - Shanghai, 2011, 109-114

Skup
IEEE International Conference on Robotics and Automation

Mjesto i datum
Šangaj, Kina, 09.05.2011. - 13.05.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Animation and Simulation; Discrete Event Dynamic Automation Systems; Factory Automation

Sažetak
In this paper, we present a control architecture for fully automated warehouse operation. The scenario we are considering consists of several autonomous guided vehicles (AGVs), transporting packages from an input location to one of several destinations, through an unstructured warehouse environment. The AGVs are equipped with wheel encoders, laser range finders and RFID tag readers. Each package has a RFID tag encoding its destination. A map of the warehouse is provided a priori.We have developed a layered control architecture that enables fully autonomous system operation. Starting with a map of the environment, the control system generates feasible paths, assigns tasks to the vehicles and schedules task execution. At the lowest layer, waypoint tracking controllers enable task execution. The proposed architecture has been successfully tested in a simulated scenario at the IEEE Virtual Manufacturing Automation Competition (VMAC), using the USARSim simulator.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

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