Route Planning Integrated Multi Objective Task Allocation for Reconfigurable Robot Teams Using Genetic Algorithm

摘要

This research work aims at multi objective optimization of integrated route planning and multi-robot task allocation for reconfigurable robot teams. Genetic Algorithm based methodology is used to minimize the overall task completion time for all the multi-robot tasks and to minimize the cumulative running time of all the robots. A modified matrix based chromosome is used to accommodate the robot information and task information for route planning integrated task allocation. The experimental validation is done with 3 robots and 4 tasks. For larger number of robots and tasks were simulated to perform route planning for maximum of 20 robots that would attend the maximum of 40 different multi-robot tasks. The results shows that the average task completion time per robot and average travel time per robot, decreases exponentially with increase in number of robots for fixed number of tasks. This method finds its application in allocating a robot teams to tasks and finding the best sequence for robots that work in coordination for material handling in hospital management, warehouse operations, military operations, cleaning tasks etc.