Optimisation and Simulation of Transportation Tasks in Flexible Job Shop with Muti-Robot Systems

摘要

Collaborative and smart robots represents a pillar of the industry 4.0. Transportation tasks are becoming more and more important with the generalization of flexible manufacturing systems (FMS) use. The use of robots is very suitable for these kind tasks due to their repetitiveness and low add value. This paper present a multi-robot workshop simulation in which they participate independently but collaboratively in the assembly line of cellular phones. A multi-objective optimization Generic Algorithm (GA) is developed to ensure the task allocation to each robot. A realistic simulation has been developed to demonstrate the efficiency of this algorithm with smart entities able to decide autonomously about their trajectory. The simulation is developed under ROS (Robot Operating System) using Gazebo for robotic 3D simulation. The final results demonstrate the possibility to simulate multi-robot on Gazebo using several computers and two decision levels. The collaborative aspect two autonomous robot has been demonstrated to prove the efficiency of distributed supervision and control architectures. This work open several perspectives in the robotised FMS implementation.