Open AccessPrognostics-aware multi-robot route planning to extend the lifetime
Author(s) -
Uğur Yayan,
AUTHOR_ID,
Ahmet Yazıcı,
̇Inci Sarıc ̧ic ̧ek,
AUTHOR_ID,
AUTHOR_ID
Publication year - 2021
Publication title -
maǧallaẗ al-kuwayt li-l-ʿulūm
Language(s) - English
Resource type - Journals
eISSN - 2307-4116
pISSN - 2307-4108
DOI - 10.48129/kjs.13237
Subject(s) - prognostics , robot , reliability (semiconductor) , key (lock) , set (abstract data type) , computer science , reliability engineering , mobile robot , real time computing , engineering , simulation , artificial intelligence , computer security , power (physics) , quantum mechanics , programming language , physics
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 (P-MRRP) 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.