This paper deals with the graphic simulation package developed to simulate mobile robots working in warehousing environments. Paths are planned for each robot that takes care of constraints and possible chances of collision with other robots. Decision making and simulation in real time dynamic environments is studied. Obstacle detection in the paths of the robots could result in bypassing the obstacle or path blockage. The effect on the other robots due to such “dynamic obstacles” is also analyzed.

Abstract : In case of national mobilization, the U.S. Army must be able to construct large training camps within a very short time and with a severe shortage of skilled labor. Incorporating robots into the construction process appears to be an optimal solution to this problem. The overall purpose of this research is to develop an autonomous warehouse system using mobile robots. This phase of research included development of preprocessors to input warehouse layout information. The sensor technology requirements of mobile robot navigation were analyzed. The control algorithms for navigation planning were modified to operate on a multirobot environment, and the control algorithms for navigation were enhanced to consider optimizing criteria for idling and loaded robots. Algorithms to interpret sensor data for bypassing, blocking, retracing, and robot interaction strategies under these situations were developed. The color graphic simulation model was updated to include the new algorithms. Recommendations for sensors and communication links are presented. A plan for future system development is proposed.

This paper deals with the problem of navigation and planning of an automated warehouse equipped with mobile robotic devices. A generalised layout of the warehouse is considered here, which is a modular construction type. The path planning algorithm (optimises the path for the shortest distance to the goal) and the collision avoidance strategy for a multiple robot environment are developed based on velocity and distance bounds. The landmarks are assumed to supply all pertiment information regarding the module identification and the movement directions, while the sensors are assumed to be capable of maintaining the robot in its correct track and understand the knowledge contained in the landmarks. The path planning and collision avoidance algorithms are programmed and simulated for a multiple robot environment in a construction site warehouse.