TY - JOUR
T1 - Efficient path planning for multiple transportation robots under various loading conditions
AU - Bae, Jungyun
AU - Chung, Woojin
N1 - Funding Information:
The author(s) disclosed receipt of following financial support for the research, authorship, and/or publication of this article: This research was supported by the NRF, MSIP (Grant No. NRF-2017R1A2A1 A17069329) and by the Agriculture, Food and Rural Affairs Research Center Support Program (Grant No. 714002-07), MAFRA, Korea.
Funding Information:
This research was supported by the NRF, MSIP (Grant No. NRF-2017R1A2A1 A17069329) and by the Agriculture, Food and Rural Affairs Research Center Support Program (Grant No. 714002-07), MAFRA, Korea.
PY - 2019/3/1
Y1 - 2019/3/1
N2 - The article proposes a new path planning method for a multi-robot system for transportation with various loading conditions. For a given system, one needs to distribute given pickup and delivery jobs to the robots and find a path for each robot while minimizing the sum of travel costs. The system has multiple robots with different payloads. Each job has a different required minimum payload, and as a result, job distribution in this situation must take into account the difference in payload capacities of robots. By reflecting job handling restrictions and job accomplishment costs in travel costs, the problem is formulated as a multiple heterogeneous asymmetric Hamiltonian path problem and a primal-dual based heuristic is developed to solve the problem. The heuristic produces a feasible solution in relatively short amount of time and verified by the implementation results.
AB - The article proposes a new path planning method for a multi-robot system for transportation with various loading conditions. For a given system, one needs to distribute given pickup and delivery jobs to the robots and find a path for each robot while minimizing the sum of travel costs. The system has multiple robots with different payloads. Each job has a different required minimum payload, and as a result, job distribution in this situation must take into account the difference in payload capacities of robots. By reflecting job handling restrictions and job accomplishment costs in travel costs, the problem is formulated as a multiple heterogeneous asymmetric Hamiltonian path problem and a primal-dual based heuristic is developed to solve the problem. The heuristic produces a feasible solution in relatively short amount of time and verified by the implementation results.
KW - Multi-robot path planning
KW - functional heterogeneity
KW - pickup and delivery job assignment
KW - transportation robot system
UR - http://www.scopus.com/inward/record.url?scp=85063486249&partnerID=8YFLogxK
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U2 - 10.1177/1729881419835110
DO - 10.1177/1729881419835110
M3 - Article
AN - SCOPUS:85063486249
VL - 16
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
SN - 1729-8806
IS - 2
ER -