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Speeding Up On-Line Route Scheduling for an Autonomous Robot Through Pre-Built Paths

Published online by Cambridge University Press:  14 July 2020

Raul Alves Open the ORCID record for Raul Alves [Opens in a new window] ,
Josué Silva de Morais  and
Keiji Yamanaka
Raul Alves*
Affiliation:
Faculty of Electrical Engineering, Federal University of Uberlândia, Uberlândia, Brazil E-mails: josue@ufu.br, keiji@ufu.br
Josué Silva de Morais
Affiliation:
Faculty of Electrical Engineering, Federal University of Uberlândia, Uberlândia, Brazil E-mails: josue@ufu.br, keiji@ufu.br
Keiji Yamanaka
Affiliation:
Faculty of Electrical Engineering, Federal University of Uberlândia, Uberlândia, Brazil E-mails: josue@ufu.br, keiji@ufu.br
*
*Corresponding author. E-mail: raul@ufu.br
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Summary

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Today, robots can be found helping humans with their daily tasks. Some tasks require the robot to visit a set of locations in the environment efficiently, like in the Traveling Salesman Problem. As indoor environments are maze-like areas, feasible paths connecting locations must be computed beforehand, so they can be combined during the scheduling, which can be impracticable for real-time applications. This work presents an on-line Route Scheduling supported by a Fast Path Planning Method able to adjust pre-built paths. Experiments were carried out with virtual and real robots to evaluate time and quality of tours.

Keywords

Route schedulingAutonomous robotsTSPPath planningEvolutionary algorithm
Type
Research Article
Information
Robotica , Volume 41 , Issue 1 , January 2023 , pp. 3 - 15
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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