Feasibility study of multi autonomous mobile robots (AMRs) motion planning in smart warehouse environment

Prabhu, P and Chowdhury, AR (2021) Feasibility study of multi autonomous mobile robots (AMRs) motion planning in smart warehouse environment. In: 2021 18th International Conference on Ubiquitous Robots, UR 2021 . pp. 380-385.

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Abstract

This paper aims to do a feasibility study of the motion planning solutions of autonomous mobile robots suitable for smart warehouses in Industry 4.0 environment. It looks at the motion planning solutions like Rapidly exploring Random Tree RRT algorithm, Vector Field Histogram VFH technique for a single Autonomous mobile robot for warehousing environment and why it can't be applicable for a large warehouse. Further the paper looks at motion planning solutions of multi-agent AMR systems like leader follower, bio-inspired modelling, multi-robot collision avoidance solutions for the warehouse environment that are used to improve the warehouse productivity. The performance of both type of the motion planning algorithm was measured using an evaluation metric based on industry standard obstacle detection and avoidance. Among the studied methods, the highest motion performance of 93.3 % is achieved in simulations. © 2021 IEEE.

Item Type:	Journal Article
Publication:	2021 18th International Conference on Ubiquitous Robots, UR 2021
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Agricultural robots; Biomimetics; Industrial robots; Mobile robots; Motion planning; Multi agent systems; Navigation; Obstacle detectors; Planning; Trees (mathematics); Warehouses, Autonomous Mobile Robot; Feasibility studies; Industry standards; Motion performance; Motion planning algorithms; Obstacle detection; Rapidly-exploring random trees; Vector field histograms, Robot programming
Department/Centre:	Division of Mechanical Sciences > Centre for Product Design & Manufacturing
Date Deposited:	20 Nov 2021 11:32
Last Modified:	20 Nov 2021 11:32
URI:	http://eprints.iisc.ac.in/id/eprint/69861

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