Naslov
Modular Control System for Warehouse Automation - Algorithms and Simulations in USARSim

Autori
Miklić, Damjan ; Petrović, Tamara ; Ćorić, Mirko ; Pišković, Zvonimir ; Bogdan, Stjepan

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

Izvornik
2012 IEEE International Conference on Robotics and Automation / Oh, Paul - Saint Paul (MN) : Institute of Electrical and Electronics Engineers (IEEE), 2012, 3449-3454

Skup
International Conference on Robotics and Automation

Mjesto i datum
Saint Paul (MN), Sjedinjene Američke Države, 14.05.2012. - 18.05.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
manufacturing; robotics; simulation

Sažetak
In this paper, we present a control system for a fully autonomous material handling facility. The scenario we are considering is motivated by the 2011 IEEE Virtual Manufacturing Automation Challenge (VMAC). It consists of multiple autonomously guided vehicles (AGVs), transporting pallets of various goods between several input and output locations, through an unstructured warehouse environment. Only a map of the warehouse and a pallet delivery list are provided a priori. Pallets must be delivered to the output locations in the shortest time possible, while respecting the ordering of different pallet types specified by the delivery list. The presented control system handles all aspects of warehouse operation, from individual vehicle control to high-level mission planning and coordination. Delivery mission assignments are optimized using dynamic programming and simulated annealing techniques. Mission executions are coordinated using graph search methods and a modified version of the Banker’s algorithm, to ensure safe, collision and deadlock-free system operation. System performance is evaluated on a virtual warehouse model, using the high fidelity USARSim simulator.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

POVEZANOST RADA