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Flexible Transportation in Warehouses

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

Abstract

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.

Keywords

Completion Time Mobile Robot Collision Avoidance Reference Trajectory Autonomous Mobile Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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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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