Prognostics-aware multi-robot route planning to extend the lifetime

U˘gur Yayan, Software Engineering Department, Eskisehir Osmangazi University, Eskisehir, Turkey, Ahmet Yazıcı, ˙Inci Sarıc¸ic¸ek, Computer Engineering Department, Eskisehir Osmangazi University, Eskisehir, Turkey, Industrial Engineering Department, Eskisehir Osmangazi University, Eskisehir, Turkey
2021 Maǧallaẗ Al-Kuwayt li-l-ʿulūm  
Transformation to Industry 4.0, manufacturing systems need more intelligent devices with capable of self-awareness. Prognostic-aware robotic systems are one of key components for the self-awareness in manufacturing. The prognostics-aware route planning is one of the key components for the success of the multi-robot team during the long-term and uninterrupted operations with also extending lifetime and reducing maintenances costs. In this study, a Prognostics-aware Multi-Robot Route Planning
more » ... RRP) algorithm is proposed for extending lifetime of the robot team. In the P-MRRP algorithm, firstly routes are obtained from route set construction algorithm and most reliable route set is selected by calculating Probability of Route Completion (PoRC) according to reliability of the robot team. The proposed algorithm also considers effect of load during the route of robots. In this study, the reliability of the robot is updated considering both the travelled distances with route of robot and the load of robot between pickup and/or delivery nodes. The results of P-MRRP algorithm are compared with the results of classical MRRP. The performance of the algorithm shows that the lifetime of mobile robot team can be extended by using the P-MRRP algorithm.
doi:10.48129/kjs.13237 fatcat:gapmql53wvaorn7motoiydpsoi