通过物流机器人网络实现仓库自动化：一种信息物理控制方法

蔡凯

doi:10.1631/FITEE.2000156

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通过物流机器人网络实现仓库自动化：一种信息物理控制方法

智能无人系统专辑 | Updated：2022-05-19

- 通过物流机器人网络实现仓库自动化：一种信息物理控制方法
- Warehouse automation by logistic robotic networks: a cyber-physical control approach
- 信息与电子工程前沿（英文） 2020年21卷第5期页码：693-704
- Affiliations：
  
  Department of Electrical and Information Engineering, Osaka City University, Osaka 558-8585, Japan
- Author bio：
  
  [ "Kai CAI, E-mail: kai.cai@eng.osaka-cu.ac.jp" ]
- Funds：
  
  Project supported by JSPS KAKENHI (No. JP16K18122)
- DOI：10.1631/FITEE.2000156
  中图分类号： TP27
- 收稿：2020-04-07，
  
  修回：2020-;4-27，
  
  纸质出版：2020-05
- Accepted：
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蔡凯. 通过物流机器人网络实现仓库自动化：一种信息物理控制方法[J]. 信息与电子工程前沿（英文）, 2020,21(5):693-704.

Kai CAI. Warehouse automation by logistic robotic networks: a cyber-physical control approach[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 693-704.
蔡凯. 通过物流机器人网络实现仓库自动化：一种信息物理控制方法[J]. 信息与电子工程前沿（英文）, 2020,21(5):693-704. DOI： 10.1631/FITEE.2000156.

Kai CAI. Warehouse automation by logistic robotic networks: a cyber-physical control approach[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 693-704. DOI： 10.1631/FITEE.2000156.

摘要

本文提供使用机器人网络实现仓库自动化的背景教程并回顾近期相关文献。提出一种新的信息物理控制方法，以实现多机器人服务"货到人"物流作业的安全、无锁死、高效和自适应行为。该方法的核心是增量式监督控制设计算法，该算法相对于机器人数量在计算上可扩展。最后，给出30个机器人在可变环境下的一个实例分析，以验证该方法的有效性。

Abstract

In this paper we provide a tutorial on the background of warehouse automation using robotic networks and survey relevant work in the literature. We present a new cyber-physical control method that achieves safe

deadlock-free

efficient

and adaptive behavior of multiple robots serving the goods-to-man logistic operations. A central piece of this method is the incremental supervisory control design algorithm

which is computationally scalable with respect to the number of robots. Finally

we provide a case study on 30 robots with changing conditions to demonstrate the effectiveness of the proposed method.

关键词

Keywords

references

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