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3D dynamic heterogeneous robotic palletization problem

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  • Zhu, Wenbin
  • Fu, Ying
  • Zhou, You

Abstract

This paper proposes a practical robotic packing system to automate packing heterogeneous carton boxes into pallets, which is still handled manually in many distribution centers. The main challenge is to solve a 3D dynamic heterogeneous robotic palletization (DHRP) problem. Aside from the NP-completeness, there are two additional complexities in DHRP. First, the packing plan must be executable by a robotic arm without collision. Second, the packing decision must be made in real time with partial information. Tractable models are proposed to avoid collision for a common type of robotic arm and ensure the stability of the packing layout. An efficient algorithm is proposed to compute collision-free trajectories of the robotic arm during packing operations, which is embedded into a tree search algorithm to solve the semi-online counterpart of DHRP. Our semi-online algorithm is extended to solve the online version by adopting a Monte Carlo simulation strategy. A comprehensive set of test cases is generated based on realistic data to measure the performance of our algorithm. Numerical experiments show that our algorithm can produce feasible packing decisions in a few seconds for each incoming box on a modest personal computer, which is adequate for many practical setups. To help practitioners select the best setup for their application, numerical experiments are also conducted to analyze the impact of a few key design parameters in a robotic packing system on packing performance.

Suggested Citation

  • Zhu, Wenbin & Fu, Ying & Zhou, You, 2024. "3D dynamic heterogeneous robotic palletization problem," European Journal of Operational Research, Elsevier, vol. 316(2), pages 584-596.
    • Handle: RePEc:eee:ejores:v:316:y:2024:i:2:p:584-596
    DOI: 10.1016/j.ejor.2024.02.007
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    References listed on IDEAS

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    1. Zhu, Wenbin & Lim, Andrew, 2012. "A new iterative-doubling Greedy–Lookahead algorithm for the single container loading problem," European Journal of Operational Research, Elsevier, vol. 222(3), pages 408-417.
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    6. Wang, Ning & Lim, Andrew & Zhu, Wenbin, 2013. "A multi-round partial beam search approach for the single container loading problem with shipment priority," International Journal of Production Economics, Elsevier, vol. 145(2), pages 531-540.
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    1. Naiara P. V. Sebbe & Francisco J. G. Silva & Alcinda M. S. Barreiras & Isabel M. Pinto & Rita C. M. Sales-Contini & Luis P. Ferreira & Ana B. M. Machado, 2024. "Pallet Loading Problem: A Case Study in the Automotive Industry Applying a Simplified Mathematical Model," Mathematics, MDPI, vol. 12(7), pages 1-17, March.

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