Route Planning for Robot Systems

Martin Skutella () and Wolfgang Welz ()
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Martin Skutella: TU Berlin
Wolfgang Welz: TU Berlin

A chapter in Operations Research Proceedings 2010, 2011, pp 307-312 from Springer

Abstract: Abstract In welding cells a certain number of robots perform spot welding tasks on a workpiece. The tours of the welding robots are planned in such a way that all weld points on the component are visited and processed within the cycle time of the production line. During this operation, the robot arms must not collide with each other and safety clearances have to be kept. On the basis of these specifications, we concentrate on the Discrete Optimization aspects of the stated problem. This leads to a Vehicle Routing based problem with additional scheduling and timing aspects induced by the necessary collision avoidance. This problem can then be solved as an Integer Linear Program by Column Generation techniques. In this context, we adapt the Resource Constrained Shortest Path Problem, so that it can be used to solve the pricing problem with collision avoidance. Using this approach, we can solve generated test instances based on real world welding cells of reasonable size.

Keywords: Collision Avoidance; Column Generation; Vehicle Route Problem; Price Problem; Dominance Rule (search for similar items in EconPapers)
Date: 2011
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DOI: 10.1007/978-3-642-20009-0_49

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