Reinforcement-learning-based route generation for heavy-traffic autonomous mobile robot systems

Dominik Kozjek (Avtor), Andreja Malus (Avtor), Rok Vrabič (Avtor)

Povzetek

Autonomous mobile robots (AMRs) are increasingly used in modern intralogistics systems as complexity and performance requirements become more stringent. One way to increase performance is to improve the operation and cooperation of multiple robots in their shared environment. The paper addresses these problems with a method for off-line route planning and on-line route execution. In the proposed approach, pre-computation of routes for frequent pick-up and drop-off locations limits the movements of AMRs to avoid conflict situations between them. The paper proposes a reinforcement learning approach where an agent builds the routes on a given layout while being rewarded according to different criteria based on the desired characteristics of the system. The results show that the proposed approach performs better in terms of throughput and reliability than the commonly used shortest-path-based approach for a large number of AMRs operating in the system. The use of the proposed approach is recommended when the need for high throughput requires the operation of a relatively large number of AMRs in relation to the size of the space in which the robots operate.

Ključne besede

intralogistika;avtonomni mobilni roboti;spodbujevalno učenje;intralogistics;autonomous mobile robots;multi-robot cooperation;reinforcement learning;route planning;

Podatki

Jezik:	Angleški jezik
Leto izida:	2021
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UL FS - Fakulteta za strojništvo
UDK:	007.52(045)
COBISS:	76747779
ISSN:	1424-8220
Št. ogledov:	247
Št. prenosov:	84
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Slovenski jezik
Sekundarne ključne besede:	intralogistika;avtonomni mobilni roboti;spodbujevalno učenje;
Vrsta dela (COBISS):	Članek v reviji
Strani:	str. 1-19
Letnik:	ǂVol. ǂ21
Zvezek:	ǂiss. ǂ14
Čas izdaje:	Jul. 2021
DOI:	10.3390/s21144809
ID:	13462447