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《Advanced Robotics》2013,27(11-12):1365-1383
A rearrangement task of multiple objects is discussed here. In this paper, robots that carry more than one object simultaneously are referred to as multi-task functional, whereas a standard single-task robot carries one object at a time. With multi-task functional robots, the total length of transfer paths is shortened and the processing time is reduced. We propose a planning algorithm that consists of simulated annealing and a scheduling method using prioritization rules for a group of multi-task functional robots. We also propose a planning methodology on synchronization timing between the robots. Experiments involving two robots were conducted in real and simulated environments to show the effectiveness of the proposed algorithms. 相似文献