| Article ID: | iaor2001798 |
| Country: | Japan |
| Volume: | 13 |
| Issue: | 3 |
| Start Page Number: | 21 |
| End Page Number: | 29 |
| Publication Date: | Mar 2000 |
| Journal: | Transactions of The Institute of Systems, Control and Information Engineers |
| Authors: | Shinichiro Endo, Masami Konishi, Toshimichi Moriwaki, Masayoshi Yosida |
| Keywords: | optimization |
This paper discusses motion planning method for mobile robots in large scale transportation system such as transportation of parts in factory, wafers in semiconductor factory, inspection objects in hospital and so on. Recently, mobile robots in such system have become complex accompanied with necessary number of transships for transportation. The problem is to determine the appropriate traversal route for each mobile robot improving efficiency of transportation. First, problem is divided into several zones in which Genetic algorithm is applied to search optimal traversal route for each zone. Then, results in all zones are combined to determine total traversal route by genetic algorithms. By our method, large scale transportation problem was solved in practicable computing time for online use.