| Title |
Efficient Route Planning and Elevator Inter-floor Movement System for a Multi-floor, Multi Delivery Robot |
| Authors |
박재범(Jae-Bum Park) ; 조성준(SungJoon Cho) ; 김준식(Jun-Sik Kim) ; 유범재(Bum-Jae You) |
| DOI |
https://doi.org/10.5573/ieie.2024.61.8.100 |
| Keywords |
Delivery robot; Route planning; Node graph; Inter-floor movement; Multi-floor |
| Abstract |
After experiencing Covid-19, research is actively being conducted on indoor delivery robot responsible for delivering items to consumers in the final stage of logistics. The primary goal of indoor delivery robot is to deliver items from the starting point to the user-specified destination. Much research is currently focused on route planning from the initial point to the destination to achieve this goal. However, due to the multi-floor structure of buildings, there is a necessity for research on the issue of moving inter-floor. Additionally, optimizing delivery routes becomes crucial to ensure efficient delivery while moving inter-floor. This paper proposes solutions to fix up these two challenges. Firstly, we propose a module that quickly controls elevators through a server and a system that can move inter-floor flexibly and efficiently by utilizing the task structure. Secondly, based on the node graph concept, we propose a multi-floor route planning algorithm that takes into account multiple destinations in a single driving sequence. The performance of the inter-floor movement system was validated through several realistic tests, and the effectiveness of the multi-floor route planning algorithm was confirmed by comparing driving times in tests with and without its utilization. |