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distributed route planning for multiple mobile robots using an augmented Lagrangian decomposition and coordination technique

引用

IEEE TRANSACTIONS ON robotics 2005年第6期21卷 1191-1200页

作者： Nishi, T Ando, M Konishi, M Okayama Univ Grad Sch Nat Sci & Technol Dept Elect & Elect Engn Okayama Japan

To enable efficient transportation in semiconductor fabrication bays, it is necessary to generate route planning of multiple automated guided vehicles (AGVs) efficiently to minimize the total transportation time without collision among AGVs. In this paper, we propose a distributed route-planning method for multiple mobile robots using an augmented Lagrangian decomposition and coordination technique. The proposed method features a characteristic that each AGV individually creates a near-optimal routing plan through repetitive data exchange among the AGVs and local optimization for each AGV. Dijkstra's algorithm is used for local optimization. The optimality of the solution generated by the proposed method is evaluated by comparing the solution with an optimal solution derived by solving integer linear programming problems. A near-optimal solution, within 3% of the average gap from the optimal solution for an example transportation system consisting of 143 nodes and 14 AGVs, can be derived in less than 5 s of computation lime for 100 types of requests. The proposed method is implemented in an experimental system with three AGVs, and the routing plan is derived in the configuration space, taking the motion of the robot into account. It is experimentally demonstrated that the proposed method is effective for various problems, despite the fact that each route for an AGV is created without minimizing the entire objective function.

关键词： distributed autonomous robotics systems Lagrangian decomposition and coordination multiple mobile robots route planning semiconductor fabrication bays

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A distributed route planning method for multiple mobile robots using Lagrangian decomposition technique

A distributed route planning method for multiple mobile robo...

引用

20th IEEE International Conference on robotics and Automation (ICRA)

作者： Nishi, T Ando, M Konishi, M Imai, J Okayama Univ Dept Elect & Elect Engn Okayama Japan

ISBN: (纸本)0780377362

For the transportation in semiconductor fabricating bay, route planning of multiple AGVs(Automated Guided Vehicles) is expected to minimize the total transportation time without collision and deadlock among AGVs. In this paper, we propose a distributed route planning method for multiple mobile robots using Lagrangian decomposition technique. The proposed method has a characteristic that each mobile robot individually creates a near optimal route through the repetitive data exchange among the AGVs and the local optimization of its route using Dijkstra's algorithm. The proposed method is successively applied to transportation route planning problem in semiconductor fabricating bay. The optimality of the solution generated by the proposed method is evaluated by using the duality gap derived by using Lagrangian relaxation method. A near optimal solution within 5% of duality gap for a large scale transportation system consisting of 143 nodes and 15 AGVs can be obtained only within five seconds of computation time. The proposed method is implemented on 3 AGVs system and the route plan is derived taking the size of AGV into account. It is experimentally shown that the proposed method can be found to be effective for various types of problems despite the fact that each route for AGV is created without considering the entire objective function.

关键词： distributed autonomous robotics systems multiple mobile robots route planning semiconductor fabricating bay

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