1. Path Planning of Multi-Type Robot Systems with Time Windows Based on Timed Colored Petri Nets
- Author
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Zhou He, Ruijie Zhang, Ning Ran, and Chan Gu
- Subjects
multi-type robot system ,discrete event system ,timed colored Petri net ,path planning ,time window ,Technology ,Engineering (General). Civil engineering (General) ,TA1-2040 ,Biology (General) ,QH301-705.5 ,Physics ,QC1-999 ,Chemistry ,QD1-999 - Abstract
Mobile robots are extensively used to complete repetitive operations in industrial areas such as intelligent transportation, logistics, and manufacturing systems. This paper addresses the path planning problem of multi-type robot systems with time windows based on timed colored Petri nets. The tasks to be completed are divided into three different types: common, exclusive and collaborative. An analytical approach to plan a group of different types of mobile robots is developed to ensure that some specific robots will visit task regions within given time windows. First, a multi-type robot system and its environment are modeled by a timed colored Petri net. Then, some methods are developed to convert the task requirements that contain logic constraints and time windows into linear constraints. Based on integer linear programming techniques, a planning approach is proposed to minimize the total cost (i.e., total travel distance) of the system. Finally, simulation studies are investigated to show the effectiveness of the developed approach.
- Published
- 2022
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