0

Full Content is available to subscribers

Subscribe/Learn More  >

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
doi:10.1115/DETC2016-60054
From:
  • 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

abstract

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

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In