Balanced task allocation and motion planning of a multi-robot system under fuzzy time windows

Abstract

A fleet of robots has been effectively used in various application domains such as industrial plant inspection. This paper proposes a solution to the combined problem of task allocation and motion planning problem for a fleet of mobile robots which are requested to operate in an intelligent industry. More specifically, the robots are requested to serve a set of inspection points within given service time windows. In comparison with the conventional time windows, our problem considers fuzzy time windows to express the decision maker’s satisfaction for visiting an inspection point. The paper develops a unified approach to the combined problem of task allocation and motion planning for a fleet of mobile robots with three objectives (a) minimizing the total travel cost considering all robots and tasks (b) balancing fairly the workloads among robots and (c) maximizing the satisfaction grade of the decision maker for receiving the services. The optimization problem is solved by using a novel combination of a Genetic Algorithm and fuzzy set theory. The computational results illustrate the efficiency and effectiveness of the proposed approach.