An Integrated Approach to Precedence-Constrained Multi-Agent Task Assignment and Path Finding for Mobile Robots in Smart Manufacturing

Abstract

Mobile robots play an important role in smart factories, though efficient task assignment and path planning for these robots still present challenges. In this paper, we propose an integrated task- and path-planning approach with precedence constrains in smart factories to solve the problem of reassigning tasks or replanning paths when they are handled separately. Compared to our previous work, we further improve the Regret-based Search Strategy (RSS) for updating the task insertions, which can increase the operational efficiency of machining centers and reduce the time consumption. Moreover, we conduct rigorous experiments in a simulated smart factory with different scales of robots and tasks. For small-scale problems, we conduct a comprehensive performance analysis of our proposed methods and NBS-ISPS, the state-of-the-art method in this field. For large-scale problems, we examine the feasibility of our proposed approach. The results show that our approach takes little computation time, and it can help reduce the idle time of machining centers and make full use of these manufacturing resources to improve the overall operational efficiency of smart factories.

Keywords

• task assignment
• path planning
• integrated planning
• energy consumption
• mobile robot