선택적 돌연변이 제어를 통한 고밀도 공정로봇의 효율적 용접점 분배

Abstract

In this paper, we present and solve a scheduling problem for a high-density robotic workcell under various working conditions. The genetic algorithm (GA) is employed to optimize tasks for scheduling of the multi-robot system. A new operation method for generating subsequent generations of GA, controlled mutation is introduced depending on the value of the objective function in order to help the algorithm get out of the local minimum. Several simulation graphs verify efficiency of the proposed algorithm.