Flexible Transportation in Warehouses

  • Sisdarmanto Adinandra
  • Jurjen Caarls
  • Dragan Kostić
  • Jacques Verriet
  • Henk Nijmeijer


In recent years, autonomous mobile robots (AMR) have emerged as a means of transportation system in warehouses. The complexity of the transport tasks requires efficient high-level control, i.e. planning and scheduling of the tasks as well as low-level motion control of the robots. Hence, an efficient coordination between robots is needed to achieve flexibility, robustness and scalability of the transportation system. In this chapter, we present a methodology to achieve coordination in different control layers, namely high-level and low-level coordination. We investigate how the coordination strategies perform in an automated warehouse. We use simulation results to analyse the system performance. We take into account typical performance indicators for a warehouse, such as time to accomplish the transportation tasks and total cost of the system. In addition to the simulation results, we conduct experiments in a small-scale representation of the warehouse.


Completion Time Mobile Robot Collision Avoidance Reference Trajectory Autonomous Mobile Robot 
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Copyright information

© Springer-Verlag London Limited  2012

Authors and Affiliations

  • Sisdarmanto Adinandra
    • 1
  • Jurjen Caarls
    • 1
  • Dragan Kostić
    • 1
  • Jacques Verriet
    • 2
  • Henk Nijmeijer
    • 1
  1. 1.Department of Mechanical EngineeringEindhoven University of TechnologyEindhovenThe Netherlands
  2. 2.Embedded System InstituteEindhovenThe Netherlands

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