A path planning method for robot-aided aero-engine fleet inspection considering resource reuse strategy

摘要

For the robot-aided aero-engine fleet maintenance scenario, a multi-robot formation reuse strategy for inspection resource delivery path planning method is proposed, considering the reusability of inspection robots. The method considers a two-level reuse strategy, including multi-robot formation directly reuse and multi-robot formations reuse after recombination. Finally, experiments are carried out based on a simulated airport map. Results show that the proposed method could significantly reduce path length and improve robot reuse rate at the cost of a negligible increase in average task tardiness. The proposed method achieves a reduction in path transport costs and an increase in inspection efficiency compared to methods that do not consider robot reuse.