| About this Abstract |
| Meeting |
2023 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2023)
|
| Symposium
|
2023 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2023)
|
| Presentation Title |
Time-optimal Path Planning for Heterogeneous Robots in Swarm Manufacturing |
| Author(s) |
Ronnie Frank Pires Stone , Junmin Wang, Zhenghui Sha |
| On-Site Speaker (Planned) |
Ronnie Frank Pires Stone |
| Abstract Scope |
Autonomous mobile robots (AMRs) are gaining popularity in advanced manufacturing. Continuous advances in robotics path planning and the need for increased automation in manufacturing processes have caused a rising demand for integrating AMRs into modern factories. The success of this integration is critical to swarm manufacturing (SM), a new paradigm that employs multiple heterogeneous AMRs to perform a wide range of manufacturing tasks. However, path planning in SM poses unique challenges that must be addressed. Much of the literature on path planning operates under two major assumptions: the environment is static, and the robot's shape is approximated as a center of mass. These assumptions do not hold in SM, where the environment is dynamic, and the robot's orientation could impact the manufacturing task. In this paper, we propose a new methodology to find time-optimal paths in dynamic environments while explicitly considering the shape of AMRs and the obstacles surrounding them. |
| Proceedings Inclusion? |
Definite: Post-meeting proceedings |