未来地図とグラフ探索を利用した搬送ロボットの制御

—グラフを用いた経路生成

抄録

A key technology for a smart warehouse is the corporative control of mobile robots. This paper develops an efficient route generation method in the corporative control framework based on a future map, which has been recently proposed. For generating a route, we propose a graph, called the spatio-temporal graph, and the problem of finding a route is reduced into a shortest path problem of the graph. The effectiveness of the proposed method is demonstrated by numerical simulations.