Feasibility Study of Multi Autonomous Mobile Robots (AMRs) Motion Planning in Smart Warehouse Environment

摘要

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.