Enhancements to a Guidance System for an Automated Warehouse Equipped with MobileRobots

摘要

In case of national mobilization, the U.S. Army must be able to construct largetraining camps within a very short time and with a severe shortage of skilled labor. Incorporating robots into the construction process appears to be an optimal solution to this problem. The overall purpose of this research is to develop an autonomous warehouse system using mobile robots. This phase of research included development of preprocessors to input warehouse layout information. The sensor technology requirements of mobile robot navigation were analyzed. The control algorithms for navigation planning were modified to operate on a multirobot environment, and the control algorithms for navigation were enhanced to consider optimizing criteria for idling and loaded robots. Algorithms to interpret sensor data for bypassing, blocking, retracing, and robot interaction strategies under these situations were developed. The color graphic simulation model was updated to include the new algorithms. Recommendations for sensors and communication links are presented. A plan for future system development is proposed. (Author) (kr)