Journal
APPLIED SCIENCES-BASEL
Volume 12, Issue 14, Pages -Publisher
MDPI
DOI: 10.3390/app12146878
Keywords
multi-type robot system; discrete event system; timed colored Petri net; path planning; time window
Categories
Funding
- National Natural Science Foundation of China [61803246, 61903119, 62003201]
- China Postdoctoral Science Foundation [2019M663608]
- Young Talent fund of University Association for Science and Technology in Shaanxi China [20210117]
- Natural Science Foundation of Hebei Province [A2020201021]
- Hebei Province Foundation for Returned Overseas Chinese Scholars [C20190319]
- Foundation of Hebei Education Department [BJ2021008]
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This paper addresses the path planning problem of multi-type robot systems with time windows using timed colored Petri nets. It proposes an analytical approach to plan a group of different types of mobile robots and minimize the total cost of the system through integer linear programming.
Mobile robots are extensively used to complete repetitive operations in industrial areas such as intelligent transportation, logistics, and manufacturing systems. This paper addresses the path planning problem of multi-type robot systems with time windows based on timed colored Petri nets. The tasks to be completed are divided into three different types: common, exclusive and collaborative. An analytical approach to plan a group of different types of mobile robots is developed to ensure that some specific robots will visit task regions within given time windows. First, a multi-type robot system and its environment are modeled by a timed colored Petri net. Then, some methods are developed to convert the task requirements that contain logic constraints and time windows into linear constraints. Based on integer linear programming techniques, a planning approach is proposed to minimize the total cost (i.e., total travel distance) of the system. Finally, simulation studies are investigated to show the effectiveness of the developed approach.
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