Berlin : Weierstraß-Institut für Angewandte Analysis und Stochastik
Doi
Abstract
A workcell composed of a workpiece and several welding robots is
considered. We are interested in minimizing the makespan in the workcell.
Hence, one needs i) to assign tasks between the robots, ii) to do the
sequencing of the tasks for each robot and iii) to compute the fastest
collisionfree paths between the tasks. Up to now, task assignment and
path-planning were always handled separately, the former being a typical
Vehicle Routing Problem whereas the later is modelled using an optimal
control problem. In this paper, we present a complete algorithm which
combines discrete optimization techniques with collision detection and
optimal control problems efficientl