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

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

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.

• Jezik: Angleški jezik
• Ključne besede: intralogistics, autonomous mobile robots, multi-robot cooperation, reinforcement learning, route planning
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FS - Fakulteta za strojništvo
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2021
• Št. strani: 19 str.
• Številčenje: Vol. 21, iss. 14, art. 4809
• PID: 20.500.12556/RUL-130805
• UDK: 007.52(045)
• ISSN pri članku: 1424-8220
• DOI: 10.3390/s21144809
• COBISS.SI-ID: 76747779
• Datum objave v RUL: 17.09.2021

Gradivo je del revije

• Naslov: Sensors
• Skrajšan naslov: Sensors
• Založnik: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.
• Začetek licenciranja: 14.07.2021

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: intralogistika, avtonomni mobilni roboti, spodbujevalno učenje

Projekti

• Financer: ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
• Številka projekta: P2-0270
• Naslov: Proizvodni sistemi, laserske tehnologije in spajanje materialov