关键词: 车身, 质量检测, 多机器人, 任务分配, 路径规划

Abstract: Aiming at the optimization problems of complex multi-robot task allocation,there are always high-dimensional motion planning calculations and insufficient applicability of planning results in a dynamic environment.Taking the multi-robot inspection station for an example,a hierarchical task allocation method was proposed for multi-robot coordinated motion planning to reduce the possibility of interference in the multi-robot shared space.For the shared task set of multiple robots,a task allocation method based on the lazy traveling salesman problem solution was proposed to realize the allocation of a large number of task sets to multiple robots.Then fuzzy C-Means was used to cluster the single robot task set.On the basis of clustering,a multi-objective task allocation optimization model considering the center of the subset clustering and the motion time of the single robot was proposed to realize the task allocation to multiple robots in the sensing process of multiple products.Through an inline inspection case of an auto body,the task allocation method was verified in terms of inspection cycle and multi-robot consistency.Results showed that the proposed method could realize efficient allocation of tasks for inline measurement,and could reduce the conflict probability of multi-robot effectively.

Key words: auto body, quality inspection, multi-robotics, task allocation, path planning