Title: Smart robotic mobile fulfillment system with dynamic conflict-free strategies considering cyber-physical integration
Authors: Lee, CKM 
Lin, B 
Ng, KKH 
Lv, Y
Tai, WC 
Issue Date: Oct-2019
Source: Advanced engineering informatics, Oct. 2019, v. 42, 100998
Abstract: Smart mobile robots are deployed to the warehouse environments to improve the efficiency, because of its characteristics of high automation and flexibility characteristics. However, the trajectory planning is a great challenge especially when a number of mobile robotics operates in the warehouse simultaneously. This paper proposes a cyber-physical system model for smart robotic warehouse to implement the workflow data collection and procedure monitor. A decoupled method is presented to find a conflict-free path for the mobile vehicles in the warehouses, after distributing destinations to mobile robots to minimize the total travel distance. The improved A* algorithm is applied to find paths from the source node to the destination node for single mobile vehicle in the domain of smart logistics. Collisions are detected by comparing the occupying time window of each mobile vehicle. Three collision avoidance strategies are developed to solve the conflicts and the candidate path with the minimal completion time is selected as the final determined route. The contribution of the paper is to propose a CPS-enabled robotic warehouse with dynamic conflict-free strategy to self-configure the path to optimize warehouse operation efficiency.
Keywords: A* algorithm with greedy best-first-search
Bi-directional robot path layout
Conflict-detection method with time window
Mobile robot control
Smart mobile robotic fulfillment system
Publisher: Elsevier
Journal: Advanced engineering informatics 
EISSN: 1474-0346
DOI: 10.1016/j.aei.2019.100998
Appears in Collections:Journal/Magazine Article

Access
View full-text via PolyU eLinks SFX Query
Show full item record

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.