Bewertung von Multi-Agent Path Finding Verfahren für deren Einsatz in robotisierten Logistiksystemen

In recent time, logistics systems have been in place in which hundreds of autonomous mobile robots are used for tasks such as picking or sorting. Path planning for the robots navigating in these systems is still a relevant problem, for which Multi-Agent Path Finding (MAPF) methods have been considered for some time. However, there has been no consensus on which evaluation criteria allow for estimating the suitability of a MAPF method for a particular application. In this work, we therefore derive qualitative evaluation criteria (scalability, conflict management, and solution quality), that enable such a suitability assessment. We use these criteria to find that Priority Based Search is suitable for Robotic Mobile Fulfillment systems, while Explicit Estimation Conflict Based Search is appropriate in robotic sorting systems. For robotic-based production logistics, we recommend the Conflict Based Search algorithm.

Subjects

Robotisierte Logistiksysteme

Multi-Agent Path Finding

Pfadfindung

Autonome Mobile Roboter

DDC Class

004: Informatik

330: Wirtschaft

380: Handel, Kommunikation, Verkehr

Funding(s)

Projekt AuLoKomp dtec.bw - Forschungszentrum Digitalisierung und Technik der Bundeswehr

Publication version

publishedVersion

Lizenz

https://www.hbz-nrw.de/produkte/open-access/lizenzen/dppl/fdppl/f-DPPL_v1_de_11-2004

Name

Hein, B. Kirchheim, A. Azizpour, M. Wesselhoeft, M. Hinckeldeyn, J. (2022) Bewertung von Multi-Agent Path Finding Verfahren für deren Einsatz in robotisierten Logistiksystemen.pdf

Size

504.11 KB

Format

Adobe PDF

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Bewertung von Multi-Agent Path Finding Verfahren für deren Einsatz in robotisierten Logistiksystemen