Multi-Robot Task Sequencing & Automatic Path Planning for Cycle Time Optimization: Application for Car Production Line

Industrial robots are programmed to repeat a sequence of well-defined tasks, e.g. deburring, cutting and welding. The production cycle time is directly influenced by the task order as well way trajectories linking this tasks generated. In letter, we present an optimization approach that minimizes overall movements duration robots. We propose fast algorithm generates sequenced near-optimal solution for Multi-Robotic Task Sequencing Problem. model problem in form new min (sum-max) Multiple Generalized Traveling Salesman Problem `min(sum-max) MGTSP' model. Near-optimal solutions obtained automatically minimize collision-free path. originality our method lies its flexibility ability be integrated into industrial processes. study, perform double both configuration space. Also, proposed able plan trajectory between two robots' configurations generating relevant via points which duration. Comparing other approaches, experiment reveal positive results terms efficiency demonstrate existing software.