Layout of flexible manufacturing systems based on kinematic constraints of the autonomous material handling system

Abstract

This paper presents a research that investigates solutions and algorithms for determining the optimum machine layout served by autonomous material handling system, like mobile robot or automated guided vehicle. Unlike previous works which solved the layout problem by optimizing the distance between facilities, in this paper the machine layout is addressed based on optimizing the travel time of the material handling system. The proposed approach can include boundary kinematic constraints of vehicle while optimizing the objective function such as velocity, acceleration, orientation, and trajectory curvature. The nonlinear constrained model is transformed to unconstrained problem using penalty method. Then, a simulated annealing-based algorithm is used to search for the optimum locations of machines among all possible feasible layouts. The simulation results showed that the proposed approach was efficient enough to use in real factories due to including a vehicle path planner integrated in an overall layout design scheme that involves searching of vehicle control parameters.