Routing of a multi-robot system using a Time-Space Network model

Conference paper (2019)

Authors

Chuang Meng Zhengzhou University
J. Xin Zhengzhou University
Jinzhu Peng Zhengzhou University
R.R. Negenborn Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 Chuang Meng, J. Xin, Jinzhu Peng, R.R. Negenborn
DOI: https://doi.org/10.1109/CAC48633.2019.8996444
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Published Date

2019

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

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.

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