Routing of a Multi-Robot System Using a Time-Space Network Model

In this paper, we study the collision-free routing of a multi-robot system to complete given tasks in the shortest time. In a robotic assembly unit, several stations work serially and in parallel. In a station, multiple robots share the same workspace and face the challenge of minimizing the cycle time and avoiding collisions at the same time. For this problem, we propose a new mathematical model that is the so-called time-space network (TSN) model. The TSN model can map the robot location constraints into the routing planning framework, leading to a mixed integer programming problem. By solving this mixed integer programming problem, the collision-free path of multiple robots can be determined. Finally, simulation results illustrate the proposed TSN model can obtain the collision-free route of the multi-robot system.

I. Introduction

Manufacturing systems used in modern industrial production are very complicated, consisting of hundreds of industrial machines and robots working in production lines and stations for processing tasks. For the producer, the expectations on the returns of the large investment impose that as many products are produced using available machinery in a given period as possible. To meet this requirement, it is necessary to increase productivity.