A modular control system for warehouse automation - Algorithms and simulations in USARSim

Miklić, Damjan and Petrović, Tamara and Čorić, Mirko and Pišković, Zvonimir and Bogdan, Stjepan (2012) A modular control system for warehouse automation - Algorithms and simulations in USARSim. = A modular control system for warehouse automation - Algorithms and simulations in USARSim. In: 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18.05.2012., St. Paul, Minnesota, United States.

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Abstract

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.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): manufacturing; robotics; simulation
Subjects: TECHNICAL SCIENCE > Basic technical sciences
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: Yes
Indexed in Current Contents: No
Citations JCR: 0 (13.09.2018.)
Date Deposited: 17 May 2017 12:45
Last Modified: 13 Sep 2018 06:45
URI: http://repozitorij.fsb.hr/id/eprint/7758

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