20.500.12556/RUL-167696 Bio-inspired traffic pattern generation for multi-AMR systems In intralogistics, autonomous mobile robots (AMRs) operate without predefined paths, leading to complex traffic patterns and potential conflicts that impact system efficiency. This paper proposes a bio-inspired optimization method for autonomously generating spatial movement constraints for autonomous mobile robots (AMRs). Unlike traditional multi-agent pathfinding (MAPF) approaches, which focus on temporal coordination, our approach proactively reduces conflicts by adapting a weighted directed grid graph to improve traffic flow. This is achieved through four mechanisms inspired by ant colony systems: (1) a movement reward that decreases the weight of traversed edges, similar to pheromone deposition, (2) a delay penalty that increases edge weights along delayed paths, (3) a collision penalty that increases weights at conflict locations, and (4) an evaporation mechanism that prevents premature convergence to suboptimal solutions. Compared to the existing approaches, the proposed approach addresses the entire intralogistic problem, including plant layout, task distribution, release and dispatching algorithms, and fleet size. Its autonomous movement rule generation and low computational complexity make it well suited for dynamic intralogistic environments. Validated through physics-based simulations in Gazebo across three scenarios, a standard MAPF benchmark, and two industrial environments, the movement constraints generated using the proposed method improved the system throughput by up to 10% compared to unconstrained navigation and up to 4% compared to expert-designed solutions while reducing the need for conflict-resolution interventions. autonomous mobile robots ant colony optimization logistics avtonomni mobilni roboti optimizacija s kolonijo mravelj logistika true false false Angleški jezik Slovenski jezik Neznano 2025-03-07 09:47:37 2025-03-07 09:47:43 2025-03-11 04:03:03 0000-00-00 00:00:00 2024 0 0 22 str. iss. 5 Vol. 15 2025 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 2025-01-01 531.176.2 2076-3417 10.3390/app15052849 228199171 Vrabic_..._Bio_inspired.pdf Vrabic_..._Bio_inspired.pdf 1 5E830F668EA82B7A54F1DD6BC149B7D3 e100b6ddad7176239618347ea71690894a3aa8f746b69d90aa21ae66ab36a8ae 6fa67b85-fd8f-11ef-b232-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=200455 https://www.mdpi.com/2076-3417/15/5/2849 1 e6813733-fb2f-11ef-b232-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=200413 Fakulteta za strojništvo 0 0 0