Simulation and Optimization of Logistic Processes Involving Sloshing Media

This paper is concerned with the logistic transport of open, fluid filled containers within a warehouse environment. In particular an optimal trajectory path planning in two dimensional space for the motion of the cart, transporting the container will be proposed. The fluid and the mechanical facility that moves the container are subject to several constraints. The objective of the optimization is a minimization of time to transport the container from an initial position to its final destination within the warehouse. Optimization criteria are investigated to control the movement of the fluid within the container. The system of ordinary differential equations and of partial differential equations, representing the dynamics of the models is solved numerically using a direct shooting method. The optimization problem is solved using sequential quadratic programming (SQP).