Knowledge Commons of Institute of Automation，CAS
| An Incidental Delivery Based Method for Resolving Multirobot Pairwised Transportation Problems | |
Liu, Zhe1; Wang, Hesheng1; Chen, Weidong1; Yu, Junzhi2 ; Chen, Jian3
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| 发表期刊 | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
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| 2016-07-01 | |
| 卷号 | 17期号:7页码:1852-1866 |
| 文章类型 | Article |
| 摘要 | This paper presents a multirobot pairwised transportation (MRPWT) approach for factory automated material and product deliveries. We consider MRPWT from the viewpoint of robotics and incorporate practical factory application constraints in the transportation method design. The proposed MRPWT approach is a two-level hybrid planning method, consisting of an incidental delivery based single robot level planner and a simulated annealing based robot group level planner. Each robot resolves its individual transportation plan incidentally to reduce the transportation cost, whereas the group level planner utilizes predefined random actions to search the task assignment solution space and then incorporates the simulated annealing algorithm to resolve the MRPWT problem as a combinatorial optimization problem. By implementing a distributed auction mechanism, the proposed MRPWT approach can be further extended to resolve the online task allocation or reallocation problem in dynamic environments. Experiments performed on a group of mobile robots successfully demonstrate the effectiveness and the practical applicability of the proposed MRPWT approach for factory automated material and product deliveries. |
| 关键词 | Incidental Delivery Multirobot Pairwised Transportation (Mrpwt) Simulated Annealing |
| WOS标题词 | Science & Technology ; Technology |
| DOI | 10.1109/TITS.2015.2508783 |
| 关键词[WOS] | TIME WINDOWS ; DYNAMIC PICKUP ; ALGORITHM ; SCHEME |
| 收录类别 | SCI |
| 语种 | 英语 |
| 项目资助者 | Natural Science Foundation of China(61221003 ; Shanghai Rising-Star Program(14QA1402500) ; 61473191 ; 61503364) |
| WOS研究方向 | Engineering ; Transportation |
| WOS类目 | Engineering, Civil ; Engineering, Electrical & Electronic ; Transportation Science & Technology |
| WOS记录号 | WOS:000379908100005 |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/12161 |
| 专题 | 复杂系统认知与决策实验室_先进机器人 |
| 通讯作者 | Chen, Weidong |
| 作者单位 | 1. Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai Key Laboratory of Navigation and Location Services, Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China 2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China 3.Hefei Institute of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China 4.Anke Smart Cities Technology (PRC) Company, Ltd., Shenzhen, 518053, China |
| 推荐引用方式 GB/T 7714 | Liu, Zhe,Wang, Hesheng,Chen, Weidong,et al. An Incidental Delivery Based Method for Resolving Multirobot Pairwised Transportation Problems[J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,2016,17(7):1852-1866. |
| APA | Liu, Zhe,Wang, Hesheng,Chen, Weidong,Yu, Junzhi,&Chen, Jian.(2016).An Incidental Delivery Based Method for Resolving Multirobot Pairwised Transportation Problems.IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,17(7),1852-1866. |
| MLA | Liu, Zhe,et al."An Incidental Delivery Based Method for Resolving Multirobot Pairwised Transportation Problems".IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 17.7(2016):1852-1866. |
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| 35%7bAn Incidental D（3291KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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