ICRA 2012 Paper Abstract

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Paper WeD07.2

Miklic, Damjan (University of Zagreb), Petrovic, Tamara (Univ. of Zagreb), Coric, Mirko (University of Zagreb), Piskovic, Zvonimir (University of Zagreb), Bogdan, Stjepan (University of Zagreb)

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

Scheduled for presentation during the Invited Session "Results of ICRA 2011 Robot Challenge" (WeD07), Wednesday, May 16, 2012, 16:45−17:00, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Intelligent and Flexible Manufacturing, Factory Automation, Animation and Simulation

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.

 

 

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