Abstract
In this paper, we study the collision-free routing of a multi-robot system to complete given tasks in the shortest time. In a robotic assembly unit, several stations work serially and in parallel. In a station, multiple robots share the same workspace and face the challenge of minimizing the cycle time and avoiding collisions at the same time. For this problem, we propose a new mathematical model that is the so-called time-space network (TSN) model. The TSN model can map the robot location constraints into the routing planning framework, leading to a mixed integer programming problem. By solving this mixed integer programming problem, the collision-free path of multiple robots can be determined. Finally, simulation results illustrate the proposed TSN model can obtain the collision-free route of the multi-robot system.
Original language | English |
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Title of host publication | Proceedings - 2019 Chinese Automation Congress (CAC 2019) |
Place of Publication | Piscataway, NJ, USA |
Publisher | IEEE |
Pages | 2883-2888 |
ISBN (Electronic) | 978-1-7281-4094-0 |
DOIs | |
Publication status | Published - 2019 |
Event | 2019 Chinese Automation Congress, CAC 2019 - Hangzhou, China Duration: 22 Nov 2019 → 24 Nov 2019 |
Conference
Conference | 2019 Chinese Automation Congress, CAC 2019 |
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Country/Territory | China |
City | Hangzhou |
Period | 22/11/19 → 24/11/19 |
Bibliographical note
Accepted Author ManuscriptKeywords
- collision avoidance
- Multi-robot systems
- routing
- time-space network model