IEEE Robotics & Automation Magazine - June 2023 - 44

thereby balancing the local and global search. Although MSVND
has less computation time than RAILS, their time difference
is within 10 s and is negligible in practice.
RAILS outperforms most datasets' population-based algorithm
GA1. GA1 occasionally finds better solutions than the
proposed algorithm in solving scenario 1. With the increase in
problem size, RAILS performs much better than GA1. At the
same time, it can be found that GA2 can obtain better solutions
when maxw increases because GA cannot converge sufficiently
at limited iteration times for solving large-scale problems. To
evaluate the impact of maxw
comprehensively, comparisons
are made between GA and RAILS. The results are shown in
Figure 4. It can be seen that RAILS has smaller tardiness and
higher robustness than GA.
CONCLUSIONS
Finding a highly efficient schedule for order picking is essential
to reduce operational costs and improve service quality
for a smart warehouse. This article presents a RAILS
approach to solve IBAPD for the first time. Its initial solution
1,000
1,500
2,000
2,500
3,000
500
GA MS-VND RAILS GA MS-VND RAILSGA MS-VND
60
80
(a)
1,000
1,200
1,400
400
600
800
GA MS-VND RAILS GA MS-VND RAILSGA MS-VND
60
80
(b)
FIGURE 4. The tardiness w.r.t. (, +4tW
tt
), where q ,,60 80=
44 IEEE ROBOTICS & AUTOMATION MAGAZINE JUNE 2023
100
and 100; MTCR = 0.6; m 2 ;= and ~ 2 .= (a) C = 45. (b) C = 75.
RAILS
100
RAILS
is generated by using a batching algorithm. In it, HSL can
speed up the search for near-optimal solutions by extracting
and using the features of the orders. The dynamic time window
can deal with fluctuating orders efficiently by scheduling
orders within one or more time windows. Innovatively, a
perturbation mechanism based on RL is designed to search
for the optimal order batching and job assignment. The
mechanism can adaptively select suitable perturbation types
and determine the proper perturbation strength to improve
the global search ability of the proposed approach. Experimental
results show that our proposed approach can find a
better schedule for small-scale and large-scale problems in
dynamic environments than its peers. Note that RAILS is a
general method. Thus, it can be easily adapted to solve other
combinatorial optimization problems, such as traveling salesman
problems [26] and industrial system scheduling problems
[33], by designing some problem-specific operators.
It should be noted that our current work only considers
operation-level scheduling in a warehouse, which may not
be enough in reality. It is possible to develop an extended
Tardiness (min)
Tardiness (min)

IEEE Robotics & Automation Magazine - June 2023

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