Multi-Robot Task Planning for Efficient Battery Disassembly in Electric Vehicles

摘要

With the surging interest in electric vehicles (EVs), there is a need for advancements in the development and dismantling of lithium-ion batteries (LIBs), which are highly important for the circular economy. This paper introduces an intelligent hybrid task planner designed for multi-robot disassembly and demonstrates its application to an EV lithium-ion battery pack. The objective is to enable multiple robots to operate collaboratively in a single workspace to execute battery disassembly tasks efficiently and without collisions. This approach can be generalized to almost any disassembly task. The planner uses logical and hierarchical strategies to identify object locations from data captured by cameras mounted on each robot’s end-effector, orchestrating coordinated pick-and-place operations. The efficacy of this task planner was assessed through simulations with three trajectory-planning algorithms: RRT, RRTConnect, and RRTStar. Performance evaluations focused on completion times for battery disassembly tasks. The results showed that completion times were similar across the planners, with 543.06 s for RRT, 541.89 s for RRTConnect, and 547.27 s for RRTStar, illustrating that the effectiveness of the task planner is independent of the specific joint-trajectory-planning algorithm used. This demonstrates the planner’s capability to effectively manage multi-robot disassembly operations.