A Genetic Algorithm-based Heuristic for PartFeeding Mobile Robot Scheduling Problem Quang-Vinh Dang1, Izabela Ewa Nielsen1, Grzegorz Bocewicz2 1
Dept. of Mechanical and Manufacturing Engineering, Aalborg University, Denmark
2
Dept. of Computer Science and Management, Koszalin University of Technology, Poland
1
[email protected],
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[email protected] Abstract This present study deals with the problem of sequencing feeding tasks of a single mobile robot with manipulation arm which is able to provide parts or components for feeders of machines in a manufacturing cell. The mobile robot has to be scheduled in order to keep machines within the cell producing products without any shortage of parts. A method based on the characteristics of feeders and inspired by the (s, Q) inventory system, is thus applied to define time windows for feeding tasks of the robot. The performance criterion is to minimize total traveling time of the robot in a given planning horizon. A genetic algorithm-based heuristic is developed to find the near optimal solution for the problem. A case study is implemented at an impeller production line in a factory to demonstrate the result of the proposed approach. Keywords: Scheduling, Mobile Robot, Genetic Algorithm, Part Feeding
1 Introduction Today’s production systems range from fully automated to strictly manual. While the former is very efficient in high volumes but less flexible, the latter is reversed. Therefore, manufactures visualize the need for transformable production systems that combines the best of both worlds by using new assistive automation and mobile robots. A given problem is particularly considered for mobile robots with manipulation arms which will automate extended logistic tasks by not only transporting but also collecting containers of parts and emptying them into the place needed. In that context mobile robots play the role of agents [12], attempting to reach their goals while following rules specific for a given production system. So, the considered systems are treated as multi-agent ones in which each robot can be seen as an autonomous object capable to undertake decisions about moving, feeding, emptying containers and completing operations, etc.