A control architecture for warehouse automation - Performance evaluation in USARSim
In this paper, we present a control architecture for fully automated warehouse operation. The scenario we are considering consists of several autonomous guided vehicles (AGVs), transporting packages from an input location to one of several destinations, through an unstructured warehouse environment. The AGVs are equipped with wheel encoders, laser range finders and RFID tag readers. Each package has a RFID tag encoding its destination. A map of the warehouse is provided a priori.We have developed a layered control architecture that enables fully autonomous system operation. Starting with a map of the environment, the control system generates feasible paths, assigns tasks to the vehicles and schedules task execution. At the lowest layer, waypoint tracking controllers enable task execution. The proposed architecture has been successfully tested in a simulated scenario at the IEEE Virtual Manufacturing Automation Competition (VMAC), using the USARSim simulator.
Damjan Miklic Stjepan Bogdan Luka Kalinovcic
Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, Croatia
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
109-114
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）