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RISS 인기검색어
- 검색키워드
- 저자 : Albert Causo (검색결과 2 건)
- 무료
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- 유료
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Task Prioritization for Automated Robotic Item Picking
Albert Causo,Zheng-Hao Chong,Ramamoorthy Luxman,Yuan Yik Kok,I-Ming Chen 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper describes a task scheduling method designed for a robotic picking system. The main goal of the system is to fulfill an order, ie, pick all the items in an order list and place them into the order bin, as fast as possible with the least number of unfulfilled items or errors. Picking an item on the list is considered as one task. The system will prioritize and schedule first the tasks with higher chances of being executed successfully. The probability for successful pick is computed from the vision data and grasping information. The items with higher chances of failure to be picked are pushed to the end of the queue. Forty experiments were conducted using randomly generated arrangement of items in a shelf and a randomly generated task order list. The test result shows that the strategy delivers an average fulfillment rate of 90% and an average fulfillment efficiency rate of 71%. The strategy described in this paper could be used to determine items that could be picked with human assistance instead of by robot alone.
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Autonomous Robot Driving Decision Strategy Following Road Signs And Traffic Rules
Zheng-Hao Chong,Ling Yee,Albert Causo,I-Ming Chen 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
Autonomous robot driving decision strategy following road signs and traffic rules is described using simulation with a Turtlebot [1]. A fully autonomous robot driving strategy is presented, which follows human level logic in decision making. A vision-based autonomous vehicles navigation system for road vehicles includes three main parts: 1) road and traffic signs detection; 2) vehicle movement guidance system; and 3) decision making following human level logic. The first two modules have been studied independently for many years and obtained many good results using different solutions, but there is little research in fully integrated system with high level decision making to achieve fully autonomous robot navigation following road signs. It is valuable to study and apply this concept into a real system. A simulation world is built according to real environment scenario proving the concept of study.
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