Taking advantages of flexibility and efficiency, multi-robot system can be used for machining the complex large-scale aerospace structures. However, there are problems such as imbalanced task allocation and difficult to eliminate interference between robots. To solve the above problems, a multi-robot cooperative assembly task planning algorithm for large-scale aerospace structures is proposed in this paper. The first step is to adapt a rotating planning strategy for large-scale aerospace structures to reduce the number of processing station and shorten the processing time of multi-robot system. The second step is to develop a task auction algorithm based on market method to balance the workload between each robot and improve the work efficiency of multi-robot system. Finally, simulations are shown to illustrate the efficiency of the proposed algorithm.


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    Titel :

    Multi-robot Cooperative Assembly Task Planning for Large-scale Aerospace Structures


    Beteiligte:
    Lin, Jiamei (Autor:in) / Li, Pengcheng (Autor:in) / Dai, Jialong (Autor:in) / Liu, Shaorui (Autor:in) / Tian, Wei (Autor:in) / Li, Bo (Autor:in) / Wang, Changrui (Autor:in)


    Erscheinungsdatum :

    19.11.2022


    Format / Umfang :

    1279445 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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