Optimal Path Planning for a Robot Shelf Picking System

In this paper, we concern ourselves with the development of a robot system to improve the efficiency of shelf picking. A 6-degree-of-freedom robot is deployed to detect, grasp and place objects on the shelf according to order information. To generate the order picking sequence with the shortest path...

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Bibliographic Details
Main Authors: Tian, Sijia, Chen, Yueyue, Gu, Qiang, Hu, Rong, Li, Ruige, He, Dingxin
Format: Conference Proceeding
Language:English
Subjects:
Biological cells
Genetic Algorithm
Manipulators
Path planning
Picking Path
Planning
Shelf Picking System
Task analysis
Three-dimensional displays
Traveling Salesman Problem (TSP)
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Summary:In this paper, we concern ourselves with the development of a robot system to improve the efficiency of shelf picking. A 6-degree-of-freedom robot is deployed to detect, grasp and place objects on the shelf according to order information. To generate the order picking sequence with the shortest path, an optimal path planning approach is proposed. The picking path planning is abstracted as a Traveling Salesman Problem (TSP) with sequence constraints and path form constraints. An improved hybrid genetic algorithm is presented to optimize the picking path. The experiment shows that the proposed method can shorten the picking path and improve efficiency compared with traditional picking methods.
ISSN:2161-2927
DOI:10.23919/CCC50068.2020.9189590