自律移動ロボット群のバッテリ劣化を考慮したフリートスケジューリング
Fleet-Level Battery-Health-Aware Scheduling for Autonomous Mobile Robots
複数の自律移動ロボットのタスク割り当てと充電計画を、バッテリ劣化を考慮して最適化する手法を提案。階層的matheuristicにより大規模問題を効率的に解く。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
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著者: Jiachen Li, Shihao Li, Jian Chu, Wei Li, Dongmei Chen
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Autonomous mobile robot fleets must coordinate task allocation and charging under limited shared resources, yet most battery aware planning methods address only a single robot. This paper extends degradation cost aware task planning to a multi robot setting by jointly optimizing task assignment, service sequencing, optional charging decisions, charging mode selection, and charger access while balancing degradation across the fleet. The formulation relies on reduced form degradation proxies grounded in the empirical battery aging literature, capturing both charging mode dependent wear and idle state of charge dependent aging; the bilinear idle aging term is linearized through a disaggregated piecewise McCormick formulation. Tight big M values derived from instance data strengthen the LP relaxation. To manage scalability, we propose a hierarchical matheuristic in which a fleet level master problem coordinates assignments, routes, and charger usage, while robot level subproblems whose integer part decomposes into trivially small independent partition selection problems compute route conditioned degradation schedules. Systematic experiments compare the proposed method against three baselines: a rule based nearest available dispatcher, an energy aware formulation that enforces battery feasibility without modeling degradation, and a charger unaware formulation that accounts for degradation but ignores shared charger capacity limits.
