Siber Fiziksel Sistemlerde İç-Mekân Akıllı Lojistik için Adaptif İşletim Modeli

Abstract

Lojistik operasyonlar, endüstriyel üretim alanlarında ana faaliyetler arasındadır. Günümüzde bu işlemleri gerçekleştirmek için genellikle elektrikli olan ve bir sürücü tarafından manuel olarak çalıştırılan araçlar kullanılmaktadır. Lojistik robotlar bu alanda kullanılabilecek önemli bir alternatiftir ve endüstriyel alanlarda siber fiziksel sistemlerle entegrasyonda kullanımları giderek yaygınlaşmaktadır. Lojistik robotların en büyük avantajı, endüstri 4.0 konseptine uygun olarak tüm sistem için otonom sürüş kabiliyetleri ve optimum parametreleri sağlamasıdır. Bu çalışmada, siber fiziksel sistem altyapısı olan bir ortamda Siber Fiziksel Sistem (SFS) içerisine entegre edilebilen uyarlanabilir bir lojistik robot sistemi geliştirilmiştir. Bu kapsamda konumlandırma, yol planlama, çoklu görev dağılımı, enerji yönetimi, görev önceliklendirme, optimizasyon ve engellerden kaçınma konuları analiz edilerek basit çözümler önerilmektedir. Deneyler sekiz farklı konfigürasyonda gerçekleştirilmiş ve ortalama mesafe ve enerji maliyetleri sırasıyla % 5,1 ve % 6,6 oranında iyileştirilmiştir.

Keywords

• Siber Fiziksel Sistem (CPS)
• Akıllı Lojistik
• Otonom Robotlar
• Endüstri 4.0
• Robotik Kontrol

ADAPTIVE OPERATION MODEL FOR INTERIOR SMART LOGISTICS IN CYBER PHYSICAL SYSTEMS

Abstract

Logistics operations are among the main activities in industrial production areas. Today, vehicles that are usually electric and manually operated by a driver are used to perform these operations. Logistics robots are an important alternative that can be used in this field, and their use in integration with cyber physical systems in industrial fields is increasingly common. The biggest advantage of the logistics robots is that they provide autonomous driving capabilities and optimum parameters for the entire system in accordance with industry 4.0 concept. In this study, an adaptive logistics robot system that can be integrated into the Cyber Physical System (CPS) system in an environment with cyber physical system infrastructure has been developed. In this context, positioning, path planning, multi-task allocation, energy management, task prioritization, optimization and obstacle avoidance issues are analyzed and simple solutions are proposed. The experiments have been carried out in eight different configurations and the average distance and energy costs have been improved by 5.1% and 6.6%, respectively.

Keywords

• Cyber Physical System (CPS)
• Smart Logistics
• Autonomous Robots
• Industry 4.0
• Robotic Control

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