A Framework for Task-Level Programming in Automated Storage/Retrieval Systems

摘要

A machine task-level programming system uses a high-level task specification from the user, geometrical and physical data regarding the objects in the machine's world represented in a database, and suitable sensory information to develop a machine plan for the accomplishment of the task in hand. This paper describes a research effort for developing an automated, userfriendly task-level programming system for Automated Storage/Retrieval Systems (ASRS) to deal with the growing needs of programming and reprogramming of AS/R Systems owing to higher flexibility requirements. The objective of this paper is to bring together the various aspects of a TLP system and apply it to the AS/RS domain. In so doing, the important considerations in TLP have been highlighted along with the development of a conceptual framework for task-level programming in the AS/RS domain.