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Path Planning of a Material Handling Agent With Novel Locomotion

[+] Author Affiliations
Keerthi Sagar, Dimiter Zlatanov, Matteo Zoppi, Cristiano Nattero

University of Genoa, Genoa, Italy

M. Sreekumar

IIITD&M, Chennai, India

Paper No. DETC2016-60054, pp. V004T05A007; 10 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 21st Design for Manufacturing and the Life Cycle Conference; 10th International Conference on Micro- and Nanosystems
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5014-5
  • Copyright © 2016 by ASME


This work proposes the application of a recently developed locomotion system to material handling for a flexible manufacturing layout. The “swing-and-dock” (SaD) model for realizing displacements has been invented for and is used by the mobile robotic fixtures developed in the SwarmItFix European project. This form of locomotion can be a valuable capability for material handling agents, enabling simultaneous handling in a non-linear fashion and increasing manufacturing flexibility. The paper focuses on the design of SaD path planning algorithms for the motion of a single agent. Several possible strategies and solutions are presented, elaborated, and tested via simulations. The results suggest that a Nearest Neighbor with a Random Insert Heuristic approach allows the generation of good solution sequences for a single agent with SaD locomotion visiting a varied size of destinations with stationary obstacles in its path.

Copyright © 2016 by ASME



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