Multiple robot task distribution: towards an autonomous photogrammetric system

Author

Olague, Gustavo ; Dunn, Enrique

Author_Institution

Departamento de Ciencias de la Computacion, Centro de Investigacion Cientifica y de Educacion Superior de Ensenada, Mexico

Volume

5

fYear

2001

fDate

2001

Firstpage

3235

Abstract

Automation of photogrammetric tasks by means of manipulator robots is a complex problem. It involves many planning and controlling aspects that reflect on the overall system performance in terms of precision and efficiency. This paper deals with the problem of task distribution for a multiple manipulator work cell with the goal of obtaining highly accurate object measurements. Task distribution is separated into two independent combinatorial optimization problems: activity assignment and tour planning. These problems are solved simultaneously by an optimization method based on genetic algorithms. This method implements a series of restriction-based heuristics in order to utilize a simple genetic representation similar to random keys. Experiments that validate the effectiveness of our approach are presented

Keywords

genetic algorithms; industrial manipulators; multi-robot systems; path planning; photogrammetry; robot vision; activity assignment; combinatorial optimization; computational photogrammetry; genetic algorithms; heuristics; manipulator work cell; multiple robots; path planning; robot vision; task distribution; Automatic control; Cameras; Control systems; Genetic algorithms; Machine vision; Manipulators; Optimization methods; Robot vision systems; Robotics and automation; System performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2001 IEEE International Conference on

Conference_Location

Tucson, AZ

ISSN

1062-922X

Print_ISBN

0-7803-7087-2

Type

conf

DOI

10.1109/ICSMC.2001.972017

Filename

972017