The Framework for Mobile Robot Task Planning Based on the Optimal Manufacturing Schedule
Само за регистроване кориснике
2023
Аутори
Jokić, AleksandarPetrović, Milica
Miljković, Zoran
Остала ауторства
Tarnita, DanielaDumitru, Nicolae
Pisla, Doina
Carbone, Giuseppe
Geonea, Ionut
Поглавље у монографији (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
Integrated process planning and scheduling of manufacturing entities
represents one of the most impactful processes for optimizing production systems. The result of integrated process planning and scheduling is visually presented in the form of the Gantt chart that summarizes the timing and order of all
manufacturing operations. Moreover, a sequence of actions that needs to be performed by a transportation system to ensure the smooth execution of all manufacturing processes is also incorporated within the Gantt chart. Therefore, in this
paper, we develop a framework for mobile robot action planning based on highlevel action, e.g., transporting the part from one machine to another. The idea is
to automatically plan a sequence of robot-performable actions that, if performed
accurately, results in achieving a high-level goal. The framework is developed in
the standard Robot Operative System 2 (ROS2) middleware. The system, domain, and essential entities are modeled by using Planning... Domain Definition
Language (PDDL). The mobile robot actions are modeled by Behavior trees
within the PlanSys2 framework.
Кључне речи:
Intelligent manufacturing systems / Integrated process planning and scheduling / Mobile robot action planning / ROS2 / PDDL / Behavior treesИзвор:
New Trends in Medical and Service Robotics - MESROB 2023. Series: Mechanisms and Machine Science, 2023, 133, 317-325Издавач:
- Springer, Cham, Switzerland
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
Напомена:
- Supported by International Federation for the Promotion of Mechanism and Machine Science (IFToMM).
DOI: 10.1007/978-3-031-32446-8_34
ISBN: 978-3-031-32445-1
Scopus: 2-s2.0-85161096852
Колекције
Институција/група
Mašinski fakultetTY - CHAP AU - Jokić, Aleksandar AU - Petrović, Milica AU - Miljković, Zoran PY - 2023 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6861 AB - Integrated process planning and scheduling of manufacturing entities represents one of the most impactful processes for optimizing production systems. The result of integrated process planning and scheduling is visually presented in the form of the Gantt chart that summarizes the timing and order of all manufacturing operations. Moreover, a sequence of actions that needs to be performed by a transportation system to ensure the smooth execution of all manufacturing processes is also incorporated within the Gantt chart. Therefore, in this paper, we develop a framework for mobile robot action planning based on highlevel action, e.g., transporting the part from one machine to another. The idea is to automatically plan a sequence of robot-performable actions that, if performed accurately, results in achieving a high-level goal. The framework is developed in the standard Robot Operative System 2 (ROS2) middleware. The system, domain, and essential entities are modeled by using Planning Domain Definition Language (PDDL). The mobile robot actions are modeled by Behavior trees within the PlanSys2 framework. PB - Springer, Cham, Switzerland T2 - New Trends in Medical and Service Robotics - MESROB 2023. Series: Mechanisms and Machine Science T1 - The Framework for Mobile Robot Task Planning Based on the Optimal Manufacturing Schedule EP - 325 SP - 317 VL - 133 DO - 10.1007/978-3-031-32446-8_34 ER -
@inbook{ author = "Jokić, Aleksandar and Petrović, Milica and Miljković, Zoran", year = "2023", abstract = "Integrated process planning and scheduling of manufacturing entities represents one of the most impactful processes for optimizing production systems. The result of integrated process planning and scheduling is visually presented in the form of the Gantt chart that summarizes the timing and order of all manufacturing operations. Moreover, a sequence of actions that needs to be performed by a transportation system to ensure the smooth execution of all manufacturing processes is also incorporated within the Gantt chart. Therefore, in this paper, we develop a framework for mobile robot action planning based on highlevel action, e.g., transporting the part from one machine to another. The idea is to automatically plan a sequence of robot-performable actions that, if performed accurately, results in achieving a high-level goal. The framework is developed in the standard Robot Operative System 2 (ROS2) middleware. The system, domain, and essential entities are modeled by using Planning Domain Definition Language (PDDL). The mobile robot actions are modeled by Behavior trees within the PlanSys2 framework.", publisher = "Springer, Cham, Switzerland", journal = "New Trends in Medical and Service Robotics - MESROB 2023. Series: Mechanisms and Machine Science", booktitle = "The Framework for Mobile Robot Task Planning Based on the Optimal Manufacturing Schedule", pages = "325-317", volume = "133", doi = "10.1007/978-3-031-32446-8_34" }
Jokić, A., Petrović, M.,& Miljković, Z.. (2023). The Framework for Mobile Robot Task Planning Based on the Optimal Manufacturing Schedule. in New Trends in Medical and Service Robotics - MESROB 2023. Series: Mechanisms and Machine Science Springer, Cham, Switzerland., 133, 317-325. https://doi.org/10.1007/978-3-031-32446-8_34
Jokić A, Petrović M, Miljković Z. The Framework for Mobile Robot Task Planning Based on the Optimal Manufacturing Schedule. in New Trends in Medical and Service Robotics - MESROB 2023. Series: Mechanisms and Machine Science. 2023;133:317-325. doi:10.1007/978-3-031-32446-8_34 .
Jokić, Aleksandar, Petrović, Milica, Miljković, Zoran, "The Framework for Mobile Robot Task Planning Based on the Optimal Manufacturing Schedule" in New Trends in Medical and Service Robotics - MESROB 2023. Series: Mechanisms and Machine Science, 133 (2023):317-325, https://doi.org/10.1007/978-3-031-32446-8_34 . .