모듈형 컨베이어 랙 기반 물류 이송 로봇의 설계 및 물류 센터 내 경로계획

Abstract

In this paper, a design method for a logistics transportation robot based on a modular conveyor rack and path planning considering the environment of a logistics center is proposed. The driving part of the logistics transportation robot is designed and the working method of lifter for the transportation function is explained. The design of the modular conveyor rack is also described and an algorithm for a logistics transportation robot using a modular conveyor rack is suggested. The <TEX>$A^*$</TEX> algorithm is improved by using the concept of rotation cost and the initial state of the transportation robot's characteristics. We experimented with a four-step transportation algorithm for a logistics transportation robot using a modular conveyor rack and showed that the proposed method can be used successfully in a logistics center. In addition, we verified the effectiveness of the improved <TEX>$A^*$</TEX> algorithm considering the rotation cost and the initial state of the robot.