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Route Planning for Robot Systems

In: Operations Research Proceedings 2010

Author

Listed:
  • Martin Skutella

    (TU Berlin)

  • Wolfgang Welz

    (TU Berlin)

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.

Suggested Citation

  • Martin Skutella & Wolfgang Welz, 2011. "Route Planning for Robot Systems," Operations Research Proceedings, in: Bo Hu & Karl Morasch & Stefan Pickl & Markus Siegle (ed.), Operations Research Proceedings 2010, pages 307-312, Springer.
    • Handle: RePEc:spr:oprchp:978-3-642-20009-0_49
    DOI: 10.1007/978-3-642-20009-0_49
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    Cited by:

    1. Elisabeth Lübbecke & Marco E. Lübbecke & Rolf H. Möhring, 2019. "Ship Traffic Optimization for the Kiel Canal," Operations Research, INFORMS, vol. 67(3), pages 791-812, May.

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