A ROS Tool for Optimal Routing in Intralogistics

Abstract

Robot Operating System (ROS) is a meta-operating system with a collection of sophisticated tools that can be used for enabling the scheduling and planning of mobile robots at industrial environments. Highly skilled IT professionals are handling intralogistics activities by programming the robots' behaviour at the facility layout, both at simulation and realworld environments. The customization of the system by non-experts is not a trivial task. We propose an efficient and user friendly ROS tool as an interface for providing hot-spots at the facility layout where the loading and unloading activities take place. The user input is stored and visualized while an Ant Colony optimization algorithm determines the shortest path for navigating at the facility layout while passing through all the sections of interest. The final output is visualized at the simulation environment while in the meantime the real world robot follows the proposed path at the facility. Our pilot case study uses the Turtlebot3 Waffle mobile robot at a warehouse facility layout and the results indicate that the proposed tool could be utilized by non-experts for efficiently customizing the mobile robot's path in real-world conditions.

Autonomous and IoT‐driven intralogistics for Industry 4.0 warehouses: A thematic analysis of the literature

“…According to the U.S. Bureau of Labor Statistics, the transportation and warehousing sector accounts for the second‐highest workplace injuries 5 . This is due to various factors such as heavy load handling, proximity to forklifts, time constraints, and so forth (Karamanos et al, 2019). Smart intralogistics can improve workplace safety by enhanced collision avoidance (e.g., AMRs, AGVs, etc.…”

“…Deploying smart intralogistics systems allows for more flexibility in integration with existing technologies (Fragapane et al, 2020; Scholz et al, 2020). For example, technologies such as AGV's intuitive user interface allow for rapid (re)deployment and integration with existing infrastructure and conveniently adapt to volume surges (Behrje et al, 2018; Karamanos et al, 2019). Similarly, autonomous 3D‐shuttle systems (3D storage and RS) offer operational flexibility where one shuttle can fill in when another breaks down (Winkler & Zinsmeister, 2019).…”

“…Such capability also helps reduce costs when the warehouse services customized products rather than mass‐produced products (Bayhan et al, 2020). Not to forget, the cost of labor, which makes a major chunk of warehouse operational costs, is saved when the AGVs/AMRs take over the labor‐intensive tasks (Karamanos et al, 2019; Martínez & Noriega, 2020; Walenta et al, 2017; Wior et al, 2018). Consequently, human errors, rework fatigue, scrap rates, and set‐up times are minimized, thereby adding to the saved costs (Winkler & Zinsmeister, 2019).…”

“…Smart intralogistics enhance asset utilization by maximizing the use of assets by increasing the ability to work for an extended period, optimizing resource utilization, decreasing empty runs, and increasing reliability (Karunarathna et al, 2019). In addition, IoT‐driven intralogistics applications in warehouse facilities, such as remote monitoring, tracking, and control of equipment and workflow, can produce additional savings in terms of operational costs such as cost of labor, cost of maintaining inventory, cost of fuel, cost of spare parts, and so forth (Bayhan et al, 2020; Fusko et al, 2017; Karamanos et al, 2019; Winkler & Zinsmeister, 2019; Wior et al, 2018).…”

“…High-activity space can be expanded and better equipped, while underutilized space can be trimmed down, repurposed, or completely removed. Technologies such as AMRs can optimize their travel time and distance for efficiency and calculate alternate routes automatically, thereby reducing energy requirements (Karamanos et al, 2019). Other technologies, such as secure AS and order management system, may help warehouses achieve up to 85% of space utilization (Martínez & Noriega, 2020).…”