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  • Improving the flow in multi-robot logistic systems through optimization of layout roadmaps [Elektronski vir]
    Vrabič, Rok ...
    In intralogistic systems, set-up is extremely important and largely determines their performance. In systems that use autonomous guided vehicles (AGVs), planning the roadmaps is a complex problem ... that is usually solved by human experts. While roadmaps in AGV systems are fixed using magnetic tape, autonomous mobile robots (AMRs) provide additional flexibility because they are able to move around freely. However, to maintain system performance, free movement needs to be constrained, e.g., to avoid deadlocks in narrow aisles. A method is presented that suggests the movement constraints in terms of preferred directions of motion. The free space is modeled as a grid graph with directed, weighted edges. The weights are then optimized by an algorithm inspired by ant colony optimization (ACO) that aims to reduce the amount of conflicting situations, such as collisions, in a given intralogistic problem. The approach is illustrated in a case study which shows that the proposed method can inform a feasible roadmap plan that leads to fewer conflict situations.
    Source: Intelligent autonomous systems 17 [Elektronski vir] : proceedings of the 17th International Conference IAS-17, June 13–16, 2022, Zagreb, Croatia (Str. 923–934)
    Type of material - conference contribution ; adult, serious
    Publish date - 2023
    Language - english
    COBISS.SI-ID - 139695363

    Link(s):

    https://link.springer.com/chapter/10.1007/978-3-031-22216-0_62
    DOI

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