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A cross-entropy method for optimising robotic automated storage and retrieval systems

机译：用于优化机器人自动存储和检索系统的交叉熵方法

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摘要

In this paper, we consider a robotic automated storage and retrieval system (AS/RS) where a Cartesian robot picks and palletises items onto a mixed pallet for any order. This robotic AS/RS not only retrieves orders in an optimal sequence, but also creates an optimal store ready pallet of any order. Adapting the Travelling Salesman Problem to warehousing, the decision to be made includes finding the optimal sequence of orders, and optimal sequence of items inside each order, that jointly minimise total travel times. In the first phase, as a control problem, we develop an avoidance strategy for the robot (or automatic stacker crane) movement sequence. This approach detects the collision occurrence causing unsafe handling of hazardous items and prevents the occurrence of it by a collision-free robot movement sequence. Due to the complexity of the problem, the second phase is attacked by a Cross-Entropy (CE) method. To evaluate the performance of the CE method, a computational analysis is performed over various test problems. The results obtained from the CE method are compared to those of the optimal solutions obtained using CPLEX. The results indicate high performance of the solution procedure to solve the sequencing problem of robotic AS/RSs.
机译：在本文中，我们考虑一种机器人自动存储和检索系统（AS / RS），在该系统中，笛卡尔机器人可以按任意订单将物品拣选并码垛到混合托盘上。这种自动的AS / RS不仅可以最佳顺序检索订单，而且还可以创建任何订单的最佳存储就绪托盘。使旅行商问题适应于仓库，要做出的决定包括找到最佳订单顺序和每个订单中物品的最佳顺序，从而共同减少总旅行时间。在第一阶段，作为控制问题，我们针对机器人（或自动堆高机）的运动顺序制定了规避策略。这种方法可以检测到导致不安全操作危险物品的碰撞发生，并通过无碰撞的机器人移动顺序来防止发生碰撞。由于问题的复杂性，第二阶段受到了交叉熵（CE）方法的攻击。为了评估CE方法的性能，对各种测试问题进行了计算分析。从CE方法获得的结果与使用CPLEX获得的最佳解决方案的结果进行比较。结果表明解决方案的高性能解决了机器人AS / RS的排序问题。

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