TOWARDS A FLEXIBLE TRANSPORTATION IN DISTRIBUTION CENTERS - Low-level Motion Control Approach

Sisdarmanto Adinandra, Dragan Kostic, Jurjen Caarls, Hendrik Nijmeijer

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.

References

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Paper Citation


in Harvard Style

Adinandra S., Kostic D., Caarls J. and Nijmeijer H. (2011). TOWARDS A FLEXIBLE TRANSPORTATION IN DISTRIBUTION CENTERS - Low-level Motion Control Approach . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 155-160. DOI: 10.5220/0003519801550160


in Bibtex Style

@conference{icinco11,
author={Sisdarmanto Adinandra and Dragan Kostic and Jurjen Caarls and Hendrik Nijmeijer},
title={TOWARDS A FLEXIBLE TRANSPORTATION IN DISTRIBUTION CENTERS - Low-level Motion Control Approach},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={155-160},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003519801550160},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - TOWARDS A FLEXIBLE TRANSPORTATION IN DISTRIBUTION CENTERS - Low-level Motion Control Approach
SN - 978-989-8425-75-1
AU - Adinandra S.
AU - Kostic D.
AU - Caarls J.
AU - Nijmeijer H.
PY - 2011
SP - 155
EP - 160
DO - 10.5220/0003519801550160