An Incidental Delivery Based Method for Resolving Multirobot Pairwised Transportation Problems
Liu, Zhe1; Wang, Hesheng1; Chen, Weidong1; Yu, Junzhi2; Chen, Jian3
2016-07-01
发表期刊IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
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
DOI10.1109/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
专题复杂系统管理与控制国家重点实验室_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
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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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