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SERobWaS: a support environment for a robot-based warehousing system

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A Correction to this article was published on 11 May 2023

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Abstract

This paper presents SERobWaS, a support environment for a fleet of mobile robots operating in warehousing environments. SERobWaS integrates three subsystems necessary to control the missions of the fleet of robots, namely a task scheduler, a route planner, and a motion planner. Task scheduler is responsible for allocating the required logistics tasks to robots. Route planner determines the necessary routes (paths) to be followed by the robots in order to achieve their (allocated) tasks. Motion planner produces the robots’ collision-free movements on the generated routes. A motion plan specifies the actual motion to be executed by a robot and consists of a generated velocity profile along the path and a set of turning commands to the robot’s wheels. In the algorithmic level, SERobWaS uses a special genetic algorithm (GA) to simultaneously address task planning, route planning, and global motion planning problems. Collisions avoidance between the robots during their motion is further achieved in a second stage by a simple quite fast algorithm. Computer simulations demonstrate the operation of SERobWaS.

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Authors and Affiliations

  1. Department of Product and Systems Design Engineering, University of the Aegean, Syros, Greece

    Elias K. Xidias

  2. Department of Industrial Design & Production Engineering, University of West Attica, West Attica, Greece

    Paraskevi Th. Zacharia

  3. Department of Business Administration, University of Patras, Patras, Greece

    Andreas Nearchou

Authors
  1. Elias K. Xidias
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  2. Paraskevi Th. Zacharia
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  3. Andreas Nearchou
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Correspondence to Elias K. Xidias.

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The original online version of this article was revised: The correct author name is Paraskevi Th. Zacharia.

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Xidias, E.K., Zacharia, P.T. & Nearchou, A. SERobWaS: a support environment for a robot-based warehousing system. Int J Adv Manuf Technol 126, 3905–3919 (2023). https://doi.org/10.1007/s00170-023-11349-6

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  • DOI: https://doi.org/10.1007/s00170-023-11349-6

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