EURO 2024 Copenhagen
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3250. A Mathematical model for routing of Industrial Inspection Robots

Invited abstract in session WB-25: Topics in Integer Programming II, stream Combinatorial Optimization.

Wednesday, 10:30-12:00
Room: 011 (building: 208)

Authors (first author is the speaker)

1. Mehmet Erol Kara
Industrial Engineering, Eskisehir Osmangazi University
2. Aydin Sipahioglu
Industrial Engineering, Osmangazi University
3. Ahmet Yazici
Department of Computer Engineering, Eskisehir Osmangazi University

Abstract

This study focuses on solving routing problem of industrial inspection robots by using mathematical model. Inspection robots are generally used to control. Especially in the production of bus, inspection of body in white of a bus has approximately 3000 subparts and all of them must be controlled. Since inspection time is important, routing of robot(s) is crucial. Robot arm starts from a starting point and moves another check point. When it finishes the control, traverses another check point until ensures all sub parts are controlled. However, in this process, determining the control points and calculating the shortest path distance between all pairs of nodes is important. Distance between check points should not be greater than sensor observation capabilities. Additionally, robot's movements are limited because of obstacles of body in white. Finally, a good route should be determined by visiting some check points.
In this study the shortest path distances was calculated by using Floyd-Warshall algorithm and an integer linear mathematical model so as to minimize total traversing and inspection time is developed based on TSP. However, in this model, robot does not need to visit all check points in the network. The developed model was successfully validated on various test problems and the optimal solution could be obtained for small size problems. It was shown that a good solution can be obtained within 5 minutes for the problem having more than 1000 sub-parts with 170 nodes.

Keywords

Status: accepted

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