MIROR: A middleware software tool for interfacing mobile industrial robots with optimization routing algorithms

Abstract

Mobile robots are extensively used in flexible manufacturing systems and intra-logistics on a 24/7 basis to address demand fluctuations, increase productivity and promote environmental, economic and social sustainability. In this regard, routing algorithms are used to navigate mobile industrial robots for optimizing shop-floor logistics operations. However, open-source tools and software libraries implementing routing algorithms provide limited real-world relevance via indicatively neglecting the physical operating environment’s characteristics and the kinematics of mobile robots. To this effect, this research designs, analyzes and develops MIROR, a middleware software tool that interfaces mobile industrial robots with route optimization algorithms to deliver a sophisticated testing environment that: (i) applies routing algorithms for the optimal logistics of mobile robots in customized industrial facility layouts; (ii) allows the comparison of the resulting algorithmic outcomes to inform about effective and efficient routing options; and (iii) creates optimal routing plans for informing the logistics operations of equivalent real-world mobile robots in industrial manufacturing settings. Specifically, MIROR integrates open-source Operations Research tools and the Robot Operating System to simulate and explore alternative logistics scenarios for mobile robots in 3D recreated industrial manufacturing facilities. To a greater extent, MIROR allows the transfer of the optimal routing code to equivalent real-world vehicles. Specifically, the implemented middleware tool handles variations of the Traveling Salesman Problem and generates feasible routes in complex facility layouts considering a variety of mobile robots. Academics and practitioners could benefit from the user-friendly interface of MIROR to generate realistic scheduling and routing options for the optimal planning of the logistics operations of mobile industrial robots in manufacturing environments.