2P1-H09 全方向移動車とRFIDを用いた作業による環境変化を考慮した経路計画(作業をするロボット)

抄録

For transportation in warehouse, an environment changes by placement and removal of a load. A working area of placed the load becomes a new obstacle for a carrier. And a working area of removed the load becomes a removable area again. By considering the changing environment, it is thought that a path planning more efficient is possible. Ti this paper, transport system is suggested by managing this changing environment with RFID which is stuck on a load. There are data of size and position of the load in RFID. When the load is placed or removed, the environment is updated by using the map management server which gets data of RFID through reader of the carrier. 1n addition, Three Omni-Directional Vehicle is used as a carrier in order to carry out the effective transportation.