Behavior-based control of multi-robot assembly/palletizing systems

Ella Mendelson, Ofer Nayer, Sigal Berman, Yael Edan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

A decentralized palletizing multi-robot system was developed using fuzzy behavior-based control. The system consists of a conveyor, two robots and a vision system. The system's role is to perform a palletizing task using parts arriving on the conveyor. Two control algorithms were compared; a simple algorithm and a behavior-based algorithm combined with fuzzy logic. Thirty experiments were conducted while changing the control algorithm, parts arrival frequency, and conveyor velocity. Performance measures included number of parts taken, number of pallets, robots utilization and work cell utilization. Experimental results indicated better performance for the simple algorithm. However, the fuzzy behavior-based algorithm equalizes the robots utilization. Equal utilization is a major factor in multi-robots systems, and contributes in decreasing mean time between failure (MTBF). We expect that for a heavier loaded system the fuzzy behavior-based algorithm will yield higher performances.

Original languageEnglish
Title of host publicationRobotics, Automation, Control and Manufacturing
Subtitle of host publicationTrends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002
Pages1-6
Number of pages6
Volume14
StatePublished - 1 Dec 2002
Event9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002 - Orlando, FL, United States
Duration: 9 Jun 200213 Jun 2002

Conference

Conference9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002
Country/TerritoryUnited States
CityOrlando, FL
Period9/06/0213/06/02

Fingerprint

Dive into the research topics of 'Behavior-based control of multi-robot assembly/palletizing systems'. Together they form a unique fingerprint.

Cite this