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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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    4. Wascher, Gerhard & Hau[ss]ner, Heike & Schumann, Holger, 2007. "An improved typology of cutting and packing problems," European Journal of Operational Research, Elsevier, vol. 183(3), pages 1109-1130, December.
    5. Galrão Ramos, A. & Oliveira, José F. & Gonçalves, José F. & Lopes, Manuel P., 2016. "A container loading algorithm with static mechanical equilibrium stability constraints," Transportation Research Part B: Methodological, Elsevier, vol. 91(C), pages 565-581.
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    1. Juan Manuel Huertas Arango & German Pantoja-Benavides & Sebastián Valero & David Álvarez-Martínez, 2024. "Approaches for the On-Line Three-Dimensional Knapsack Problem with Buffering and Repacking," Mathematics, MDPI, vol. 12(20), pages 1-20, October.
    2. 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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