스마트 팩토리 모빌리티 에너지 효율을 위한 경로 최적화에 관한 연구 = Route Optimization for Energy-Efficient Path Planning in Smart Factory Autonomous Mobile Robot

다국어 초록 (Multilingual Abstract)

The advancement of autonomous driving technology has heightened the importance of AutonomousMobile Robotics (AMR) within smart factories. Notably, in tasks involving the transportation of heavy objects, theconsideration of weight in route optimization and path planning has become crucial. There is ongoing research onlocal path planning, such as Dijkstra, A*, and RRT*, focusing on minimizing travel time and distance within smartfactory warehouses. Additionally, there are ongoing simultaneous studies on route optimization, including TSPalgorithms for various path explorations and on minimizing energy consumption in mobile robotics operations.
However, previous studies have often overlooked the weight of the objects being transported, emphasizing onlyminimal travel time or distance. Therefore, this research proposes route planning that accounts for the maximumpayload capacity of mobile robotics and offers load-optimized path planning for multi-destination transportation.
Considering the load, a genetic algorithm with the objectives of minimizing both travel time and distance, as wellas energy consumption is employed. This approach is expected to enhance the efficiency of mobility within smartfactories.