A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station
A Time-Space Network Model for Collision-Free Routing of Planar Motions in a Multirobot Station
复制标题
多机器人站平面运动无碰撞路由的时空网络模型
DOI：
10.1109/tii.2020.2968099
复制
发表时间：
2020-10-01
影响因子：
12.3
通讯作者：
Negenborn, Rudy R.
中科院分区：
文献类型：
--
作者：
Xin, Jianbin;Meng, Chuang;Negenborn, Rudy R.
本文研究了多机器人系统的一种新的无碰撞路径规划问题。目标是在避免碰撞的同时最小化每个机器人的操作任务周期时间。重点关注末端执行器及其相连关节的操作，并将该操作投影到平面上的一个圆形区域。我们提议采用时空网络（TSN）模型，该模型将机器人位置约束映射到路径规划框架中，从而产生一个混合整数规划（MIP）问题。针对求解此MIP问题提出了一种专用遗传算法，并设计了一种新的编码方案以适应TSN公式。仿真实验表明，所提出的模型能够获得所考虑的多机器人系统的无碰撞路径。仿真结果还显示，与两种最先进的商业求解器和一种实用方法相比，所提出的遗传算法能够提供快速且高质量的解决方案。
This article investigates a new collision-free routing problem of a multirobot system. The objective is to minimize the cycle time of operation tasks for each robot while avoiding collisions. The focus is set on the operation of the end-effector and its connected joint, and the operation is projected onto a circular area on the plane. We propose to employ a time-space network (TSN) model that maps the robot location constraints into the route planning framework, leading to a mixed integer programming (MIP) problem. A dedicated genetic algorithm is proposed for solving this MIP problem and a new encoding scheme is designed to fit the TSN formulation. Simulation experiments indicate that the proposed model can obtain the collision-free route of the considered multirobot system. Simulation results also show that the proposed genetic algorithm can provide fast and high-quality solutions, compared to two state-of-the-art commercial solvers and a practical approach.