动态分区让机器人任务更均衡，减少行驶距离波动。
Dynamic Zoning of Industrial Environments with Autonomous Mobile Robots
- 采用去中心化算法实时调整机器人工作区，避免负载不均。
- 新算法使机器人总行驶距离标准差降低68.7%，减少2874.7英尺。
- 适合需要稳定维护与充电规划的工业场景，如智能仓储。
本文提出一种去中心化动态分区（DDZ）算法，将制造或仓储车间划分为由自主移动机器人（AMR）负责的区域，确保各机器人任务分配均衡。分区随生产变化动态调整，避免单点故障。通过仿真对比，DDZ虽吞吐量较低，但显著改善任务分布：机器人总行驶距离的标准差比以往方法降低2874.7英尺，降幅达68.7%。这表明在生产过程中，各机器人行驶距离趋于一致，有利于制定统一的充电与维护计划，提升系统可预测性。视频演示见： https://youtu.be/yVi026oVD7U
原文摘要 · Abstract (English)
This paper presents a scheduling algorithm that divides a manufacturing/warehouse floor into zones that an Autonomous Mobile Robot (AMR) will occupy and complete part pick-up and drop-off tasks. Each zone is balanced so that each AMR will share each task equally. These zones change over time to accommodate fluctuations in production and to avoid overloading an AMR with tasks. A decentralized dynamic zoning (DDZ) algorithm is introduced to find the optimal zone design, eliminating the possibility of single-point failure from a centralized unit. Then a simulation is built comparing the adaptability of DDZ and other dynamic zoning algorithms from previous works. Initial results show that DDZ has a much lower throughput than other dynamic zoning algorithms but DDZ can achieve a better distribution of tasks. Initial results show that DDZ had a lower standard deviation of AMR total travel distance which was 2874.7 feet less than previous works. This 68.7\% decrease in standard deviation suggests that AMRs under DDZ travel a similar distance during production. This could be useful for real-world applications by making it easier to design charging and maintenance schedules without much downtime. Video demonstration of the system working can be seen here: \url{https://youtu.be/yVi026oVD7U}
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