Multi-agents path planning for a mobile robot in a dynamic warehouse environment

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dc.contributor.authorAlhassow, Mustafa Mohammed
dc.contributor.authorAta, Oğuz
dc.contributor.authorAtilla, Doğu Çağdaş
dc.date.accessioned2023-04-08T13:34:26Z
dc.date.available2023-04-08T13:34:26Z
dc.date.issued2023en_US
dc.departmentEnstitüler, Lisansüstü Eğitim Enstitüsü, Elektrik ve Bilgisayar Mühendisliği Ana Bilim Dalıen_US
dc.description.abstractRoute planning in robotic systems is a critical and complex task in any environment. Robotic systems allow multiple robots to accomplish multiple goals simultaneously. Many mobile service robots are now used in warehouses to reduce operating and overhead costs. Large warehouses may have multiple robots to handle a large number of tasks. Route planning means finding the best route, i.e. the route without collisions. Optimizing both parameters can be a daunting task. By properly addressing the problem of route planning between robots, we can improve the efficiency of the operation of the entire warehouse. At the beginning, every robot will navigate to its desired goal by funding the optimal route without collisions with other robots. In this work, a relative study with the notable route plan was presented. The proposed intelligent approach was presented for a multi-robot system that finds the best collision-free path in the warehouse and processes the storage box. This paper proposes a sensible variety metric for multi-robotic structures to intelligently become aware of goals and take the best minimum paths to attain them without encountering collisions. Using an intelligent variety metric to discover the route that we want to reach our goal. The proposed planning path are similar to different works including A *, RNN, PRM and heuristics. Three exclusive times of the warehouse have been taken into consideration to carry out experiments with parameters including route length, common route, and elapsed time. Experiments with 800 pods and sixteen robots have said overall performance enhancements of as much as 2.3%, common route length, and elapsed time of 11%.en_US
dc.identifier.citationAlhassow, M. M., Ata, O., Atilla, D. C. (2023). Multi-agents path planning for a mobile robot in a dynamic warehouse environment. In Computational Intelligence, Data Analytics and Applications: Selected papers from the International Conference on Computing, Intelligence and Data Analytics (ICCIDA) (pp. 520-534). Cham: Springer International Publishing.en_US
dc.identifier.endpage534en_US
dc.identifier.isbn9783031270987
dc.identifier.issn2367-3370
dc.identifier.scopus2-s2.0-85151061178
dc.identifier.scopusqualityQ4
dc.identifier.startpage520en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12939/3466
dc.identifier.volume643en_US
dc.indekslendigikaynakScopus
dc.institutionauthorAlhassow, Mustafa Mohammed
dc.institutionauthorAta, Oğuz
dc.institutionauthorAtilla, Doğu Çağdaş
dc.language.isoen
dc.publisherSpringer Science and Business Media Deutschlanden_US
dc.relation.ispartofLecture Notes in Networks and Systems
dc.relation.isversionof10.1007/978-3-031-27099-4_40en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - İdari Personel ve Öğrencien_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectConflict algorithmen_US
dc.subjectDynamic environmenten_US
dc.subjectMobile roboten_US
dc.subjectWarehouseen_US
dc.titleMulti-agents path planning for a mobile robot in a dynamic warehouse environment
dc.typeConference Object

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