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Optimization and Scheduling of a Multi-robot Production Plant

Lehrstuhl: DYN

Betreuer: Marina Rantanen-Modeer, Egidio Leo, Taher Ebrahim,

Beginn ab: 1.10.2019

Maximale Anzahl der Teilnehmer: 6

Beschreibung: The experimental pipe-less production plant illustrated in Figure
1 has been developed at the DYN group to demonstrate a flexible chemical batch production.
The setup consists of multiple Automated Guided Vehicles (AGV), three processing stations
and a storage unit as well as control and positioning elements. The processing and storage
units are controlled via a PLC and the AGVs are controlled via an on-board Raspberry Pi and
a central PC. The software framework is based on the Robot Operating System (ROS) programmed
in Python. The purpose of the plant is to demonstrate a versatile production of a
wider range of products using mobile robots moving vessels, rather than having fixed pipes
dispensing material. Each individual AGV downloads a recipe, picks up the required vessel
from the storage unit and then executes the given recipe by travelling between the necessary
stations. To plan efficient use of the resources, i.e. the AGVs and processing stations, an effective
scheduler is needed. The scheduler’s task is to find the optimal order (in some predefined
sense) of actions to be executed in order to complete the requested recipe.