Motion planning of fork lift group in warehouse management - dynamical scheduling of arrangement work

In this paper, as the first step of managing both storagability and operatability in the floor warehouse, we deal with a scheduling for assignment of forklifts on an arrangement work. We propose an algorithm that calculates a semi-optimal solution in practical time for this problem. This algorithm bases on simulated annealing and consists of three layers with a different search domain. We also propose methods of online re-planning against the model error in offline plan stage, and the uncertainty of human work. The validity of our method is verified in simulation.