We consider the problem of refill scheduling for a team of vehicles or robots that must contend for access to a single physical location for refilling. The objective is to minimise time spent in travelling to/from the...
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We consider the problem of refill scheduling for a team of vehicles or robots that must contend for access to a single physical location for refilling. The objective is to minimise time spent in travelling to/from the refill station, and also time lost to queuing (waiting for access). In this paper, we present principled results for this problem in the context of agricultural operations. We first establish that the problem is NP-hard and prove that the maximum number of vehicles that can usefully work together is bounded. We then focus on the design of practical algorithms and present two solutions. The first is an exact algorithm based on dynamic programming that is suitable for small problem instances. The second is an approximate anytime algorithm based on the branch and bound approach that is suitable for large problem instances with many robots. We present simulated results of our algorithms for three classes of agricultural work that cover a range of operations: spot spraying, broadcast spraying and slurry application. We show that the algorithm is reasonably robust to inaccurate prediction of resource utilisation rate, which is difficult to estimate in cases such as spot application of herbicide for weed control, and validate its performance in simulation using realistic scenarios with up to 30 robots.
multi-robot scheduling and navigation methods are critical for efficient warehouse handling. In this paper, we propose a robot Operating System (ROS) based scheduling and navigation method for multi-mobile robots. In ...
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ISBN:
(纸本)9783031097263;9783031097263
multi-robot scheduling and navigation methods are critical for efficient warehouse handling. In this paper, we propose a robot Operating System (ROS) based scheduling and navigation method for multi-mobile robots. In order to solve the problem of multi-robotmulti-task point assignment in the warehouse environment, we establish a target model that minimizes the total transportation time and propose a hierarchical Genetic Algorithm-Ant Colony Optimization algorithm. By repeating the upper and lower operations, the shortest total transport time allocation scheme for multi-robotmulti-tasking can be obtained. In order to realize the multi-robot path planning after task assignment, a multi-robot communication system is designed on the basis of ROS, and the autonomous navigation of mobile robots is employed with the help of SLAM map. The experimental results show that the proposed multi-robot scheduling method can effectively reduce the overall transportation time, realize the reasonable allocation of multi-robots and multi-tasks, and successfully complete the cargo transportation task.
The main objective of this research work is to design and evaluate real time intelligent scheduling algorithms for flexible manufacturing systems. The proposed system has set of programmable CNC machines, load and unl...
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ISBN:
(纸本)9781728110806
The main objective of this research work is to design and evaluate real time intelligent scheduling algorithms for flexible manufacturing systems. The proposed system has set of programmable CNC machines, load and unload stations, group of mobile robots for material handling, and robot charging station. Each machine, station and robot is considered as a node in a wireless sensor network. Information between FMS units are transferred through a wireless sensor network and used by the main controller. Intelligent algorithms are required to manage and control the FMS environment for tasks scheduling and robot routing. Several simulated case studies will be considered to test and verify the flexibility of the system and the capability of the proposed algorithms to use effectively available machines and mobile robots. Encouraging results are achieved when the performance of the proposed scheduling algorithms is compared with others obtained from similar systems in published literature.
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