Path Planning of Multi-Type Robot Systems with Time Windows Based on Timed Colored Petri Nets

Mobile robots are extensively used to complete repetitive operations in industrial areas such as intelligent transportation, logistics, and manufacturing systems. This paper addresses the path planning problem of multi-type robot systems with time windows based on timed colored Petri nets. The tasks be completed divided into three different types: common, exclusive collaborative. An analytical approach plan a group types mobile is developed ensure that some specific will visit task regions within given windows. First, system its environment modeled by net. Then, methods convert requirements contain logic constraints linear constraints. Based integer programming techniques, proposed minimize total cost (i.e., travel distance) system. Finally, simulation studies investigated show effectiveness approach.