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In this paper we propose a control scheme based on coloured Petri net (CPN)for a flow-rack automated storage and retrieval system. The AS/RS is modelledusing Coloured Petri nets, the developed model has been used to capture andprovide the rack state. We introduce in the control system an optimizationmodule as a decision process which performs a real-time optimization working ona discrete events time scale. The objective is to find bin locations for theretrieval requests by minimizing the total number of retrieval cycles for abatch of requests and thereby increase the system throughput. By solving theoptimization model, the proposed method gives according to customers requestand the rack state, the best bin locations for retrieval, i.e. allowing at thesame time to satisfy the customers request and carrying out the minimum ofretrieval cycles.

Dynamic Control of a Flow-Rack Automated Storage and Retrieval System