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Efficient metaheuristics for pick and place robotic systems optimization

Abstract : This paper deals with a pick and place robotic system design problem. The objective is to present an efficient method which is able to optimize the performances of the robotic system. By defining the suitable combination of scheduling rules, our method allows each robot to perform the assigned pick and place operations in real time in order to maximize the throughput rate. For that, we have developed different resolution methods which define the scheduling rule for each robot in order to seize the products from the first side of the system and to place them on the second side. We suggest three metaheuristics which are the ant colony optimization, the particle swarm optimization and the genetic algorithm. Then, we try to select the best algorithm which is able to get the best solutions with the lowest execution times. This is the main advantage of our methods compared to exact methods. This fact represents a great interest taking in consideration that our methods must respect a strong industrial constraint regarding the functioning of a real industrial robotic system. This constraint states that the answer time to manage the seizing strategies of the robots must be less than 1 second. Numerical results show that the different algorithms perform optimally for the tested instances in a reasonable computational time.
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https://hal-utt.archives-ouvertes.fr/hal-02493367
Contributor : Daniel Gavrysiak <>
Submitted on : Thursday, February 27, 2020 - 5:06:33 PM
Last modification on : Friday, February 28, 2020 - 1:31:19 AM

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ROSAS | UTT | CNRS

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Slim Daoud, Hicham Chehade, Farouk Yalaoui, Lionel Amodeo. Efficient metaheuristics for pick and place robotic systems optimization. Journal of Intelligent Manufacturing, Springer Verlag (Germany), 2014, 25 (1), pp.27-41. ⟨10.1007/s10845-012-0668-z⟩. ⟨hal-02493367⟩

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