Balanced task allocation and motion planning of a multi-robot system under fuzzy time windows

IF 1.5 4区 工程技术 Q3 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS
Elias Xidias, Paraskevi Zacharia
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引用次数: 0

Abstract

Purpose

A fleet of mobile robots has been effectively used in various application domains such as industrial plant inspection. This paper proposes a solution to the combined problem of task allocation and motion planning problem for a fleet of mobile robots which are requested to operate in an intelligent industry. More specifically, the robots are requested to serve a set of inspection points within given service time windows. In comparison with the conventional time windows, our problem considers fuzzy time windows to express the decision maker’s satisfaction for visiting an inspection point.

Design/methodology/approach

The paper develops a unified approach to the combined problem of task allocation and motion planning for a fleet of mobile robots with three objectives: (a) minimizing the total travel cost considering all robots and tasks, (b) balancing fairly the workloads among robots and (c) maximizing the satisfaction grade of the decision maker for receiving the services. The optimization problem is solved by using a novel combination of a Genetic Algorithm with pareto solutions and fuzzy set theory.

Findings

The computational results illustrate the efficiency and effectiveness of the proposed approach. The experimental analysis leverages the potential for using fuzzy time windows to reflect real situations and respond to demanding situations.

Originality/value

This paper provides trade-off solutions to a realistic combinatorial multi-objective optimization problem considering concurrently the motion and path planning problem for a fleet of mobile robots with fuzzy time windows.

模糊时间窗下多机器人系统的平衡任务分配和运动规划
目的 移动机器人车队已在工业厂房检测等多个应用领域得到有效应用。本文针对要求在智能工业中运行的移动机器人车队,提出了任务分配和运动规划问题的综合解决方案。更具体地说,机器人需要在给定的服务时间窗口内为一组检测点提供服务。与传统的时间窗口相比,我们的问题考虑了模糊时间窗口,以表达决策者对访问检查点的满意度。 设计/方法/途径 本文针对移动机器人车队的任务分配和运动规划组合问题开发了一种统一的方法,该方法有三个目标:(a)考虑所有机器人和任务后的总旅行成本最小化;(b)公平地平衡机器人之间的工作量;(c)决策者对接受服务的满意度最大化。计算结果说明了所提方法的效率和有效性。实验分析充分利用了使用模糊时间窗反映真实情况和应对苛刻情况的潜力。 原创性/价值本文为一个现实的组合多目标优化问题提供了权衡解决方案,该问题同时考虑了具有模糊时间窗的移动机器人队的运动和路径规划问题。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Engineering Computations
Engineering Computations 工程技术-工程:综合
CiteScore
3.40
自引率
6.20%
发文量
61
审稿时长
5 months
期刊介绍: The journal presents its readers with broad coverage across all branches of engineering and science of the latest development and application of new solution algorithms, innovative numerical methods and/or solution techniques directed at the utilization of computational methods in engineering analysis, engineering design and practice. For more information visit: http://www.emeraldgrouppublishing.com/ec.htm
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