Multi-robot Task Assignment Method in the Construction Waste Sorting System

被引：2
|
作者：
Qi, Bofeng [1 ]
Pu, Lishen [1 ]
Xu, Chunquan [1 ]
Zheng, Aiqun [2 ]
机构：
[1] Tongji Univ, Dept Control Sci & Engn, Shanghai 201804, Peoples R China
[2] Shanghai New Tobacco Product Res Inst Co Ltd, Shanghai 201315, Peoples R China
来源：
PROCEEDINGS OF 2022 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2022) | 2022年
关键词：
Multi-robot; Task assignment; Multiple traveling salesman problem; Genetic algorithm;
D O I：
10.1109/ICMA54519.2022.9856058
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In an automated construction waste sorting system, multiple waste collection robots working in parallel are responsible for grabbing the waste on the conveyor belt and putting it into the waste container. In order to reduce the occurrence of missed picking and increase the speed of waste collection, it is necessary to assign the collection tasks of multiple robots appropriately. In this paper, a novel multi-robot task assignment method based on the multiple traveling salesman problem (MTSP) is proposed, which ingeniously transforms the multi-robot task assignment problem for construction waste collection tasks into a MTSP, and the genetic algorithm (GA) is used to solve it. We take the case of two robots collecting 50 pieces of waste as an example for simulation. The results show that this method can effectively reduce the number of missed pickings and increase the speed of waste collection. At the same time, the algorithm has good convergence.
引用
收藏
页码：1364 / 1369
页数：6
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