Towards a flexible transportation in distribution centers: Low-level motion control approach

Sisdarmanto Adinandra, Dragan Kostić, Jurjen Caarls, Henk Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)

Abstract

In recent years autonomous mobile robots (AMR) have emerged as a means of transportation in distribution centers. The complexity of transportation tasks requires efficient high-level control planning and task scheduling, as well as low-level motion control of the robots such that a more flexible, and robust transport system can be achieved. In this work we present a methodology to achieve coordination of a group of mobile robots so that the objectives are met, focusing on low-level control approach. We use a reactive-to-dynamic-change control concept. We consider an automated distribution center in a simulation case study. The transportation is evaluated in terms of completion time and robustness to fault. In addition, the control strategies are validated in a mock-up version of the automated distribution center.

Original languageEnglish
Title of host publicationICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
Pages155-160
Number of pages6
Volume2
Publication statusPublished - 2011
Event8th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2011) - Noordwijkerhout, Netherlands
Duration: 28 Jul 201131 Jul 2011
Conference number: 8

Conference

Conference8th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2011)
Abbreviated titleICINCO 2011
Country/TerritoryNetherlands
CityNoordwijkerhout
Period28/07/1131/07/11
OtherICINCO 2011

Keywords

  • Collision avoidance
  • Distribution center
  • Low-level motion control
  • Priority rules
  • Unicycle mobile robots

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