Authors:
Sisdarmanto Adinandra
;
Dragan Kostic
;
Jurjen Caarls
and
Hendrik Nijmeijer
Affiliation:
Eindhoven University of Technology, Netherlands
Keyword(s):
Low-level motion control, Unicycle mobile robots, Collision avoidance, Priority rules, Distribution center.
Related
Ontology
Subjects/Areas/Topics:
Industrial Automation and Robotics
;
Industrial Engineering
;
Industrial Networks and Automation
;
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robotics and Automation
;
Vehicle Control Applications
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.