Context-Aware Route Planning for Automated Warehouses

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00326361" target="_blank" >RIV/68407700:21230/18:00326361 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/18:00326361

Výsledek na webu

<a href="http://dx.doi.org/10.1109/ITSC.2018.8569712" target="_blank" >http://dx.doi.org/10.1109/ITSC.2018.8569712</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ITSC.2018.8569712" target="_blank" >10.1109/ITSC.2018.8569712</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Context-Aware Route Planning for Automated Warehouses

Popis výsledku v původním jazyce

In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking station by which robot and by which path and in which time have to be made based on the current state of the warehouse. This task involves solution of two subproblems: (1) task allocation in which an assignment of robots to goods they have to deliver at a particular time is found and (2) planning of collision-free trajectories for particular robots (given their actual and goal positions). The trajectory planning problem is addressed in this paper taking into account specifics of automated warehouses. First, assignments of all robots are not known in advance, they are instead presented to the algorithm gradually one by one. Moreover, we do not optimize a makespan, but a throughput - the sum of individual robot plan costs. We introduce a novel approach to this problem which is based on the context-aware route planning algorithm [1]. The performed experimental results show that the proposed approach has a lower fail rate and produces results of higher quality than the original algorithm. This is redeemed by higher computational complexity which is nevertheless low enough for real-time planning.

Název v anglickém jazyce

Context-Aware Route Planning for Automated Warehouses

Popis výsledku anglicky

In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking station by which robot and by which path and in which time have to be made based on the current state of the warehouse. This task involves solution of two subproblems: (1) task allocation in which an assignment of robots to goods they have to deliver at a particular time is found and (2) planning of collision-free trajectories for particular robots (given their actual and goal positions). The trajectory planning problem is addressed in this paper taking into account specifics of automated warehouses. First, assignments of all robots are not known in advance, they are instead presented to the algorithm gradually one by one. Moreover, we do not optimize a makespan, but a throughput - the sum of individual robot plan costs. We introduce a novel approach to this problem which is based on the context-aware route planning algorithm [1]. The performed experimental results show that the proposed approach has a lower fail rate and produces results of higher quality than the original algorithm. This is redeemed by higher computational complexity which is nevertheless low enough for real-time planning.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 2018 21st International Conference on Intelligent Transportation Systems (ITSC)

ISBN

978-1-7281-0323-5

ISSN

—

e-ISSN

2153-0017

Počet stran výsledku

6

Strana od-do

2955-2960

Název nakladatele

IEEE Intelligent Transportation Systems Society

Místo vydání

—

Místo konání akce

Maui

Datum konání akce

4. 11. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000457881302145