| 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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| Source Publication | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
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| 2016-07-01 | |
| Volume | 17Issue:7Pages:1852-1866 |
| Subtype | Article |
| Abstract | 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. |
| Keyword | Incidental Delivery Multirobot Pairwised Transportation (Mrpwt) Simulated Annealing |
| WOS Headings | Science & Technology ; Technology |
| DOI | 10.1109/TITS.2015.2508783 |
| WOS Keyword | TIME WINDOWS ; DYNAMIC PICKUP ; ALGORITHM ; SCHEME |
| Indexed By | SCI |
| Language | 英语 |
| Funding Organization | Natural Science Foundation of China(61221003 ; Shanghai Rising-Star Program(14QA1402500) ; 61473191 ; 61503364) |
| WOS Research Area | Engineering ; Transportation |
| WOS Subject | Engineering, Civil ; Engineering, Electrical & Electronic ; Transportation Science & Technology |
| WOS ID | WOS:000379908100005 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/12161 |
| Collection | 复杂系统管理与控制国家重点实验室_先进机器人 |
| Corresponding Author | Chen, Weidong |
| Affiliation | 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 |
| Recommended Citation 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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| 35%7bAn Incidental D（3291KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View | |
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