Name
Title | ||
|---|---|---|
A modular control system for warehouse automation - algorithms and simulations in USARSim. |
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. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ICRA.2012.6224894 | ICRA |
Keywords | Field | DocType |
automatic guided vehicles,collision avoidance,dynamic programming,graph theory,industrial manipulators,palletising,search problems,simulated annealing,virtual manufacturing,warehouse automation,warehousing,AGV,Banker algorithm,USARSim simulator,VMAC,autonomous guided vehicle,autonomous material handling facility,collision avoidance,deadlock free system,delivery mission assignment,dynamic programming,goods distribution,graph search method,mission execution,mission planning,modular control system,optimization,pallet delivery,simulated annealing,unstructured warehouse environment,vehicle control,virtual manufacturing automation challenge,virtual warehouse model,warehouse automation | Simulated annealing,Graph theory,Dynamic programming,Warehouse,Pallet,Algorithm,Automation,Input/output,Control system,Engineering | Conference |
Volume | Issue | ISSN |
2012 | 1 | 1050-4729 |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Damjan Miklic | 1 | 36 | 6.92 |
| Tamara Petrovic | 2 | 41 | 6.51 |
| Mirko Coric | 3 | 0 | 0.34 |
| Zvonimir Piskovic | 4 | 0 | 0.68 |
| Stjepan Bogdan | 5 | 152 | 28.12 |