Distributed Multi-Robot-Trailer Scheduling Based on Communication between Charging Stations for Robot Being Towed to Recharge
It is necessary for robot-trailer to tow robot to the charging station for recharging when the robot fails, or the battery cannot support the robot to the charging station. However, the delay of towing robot is affecting the working efficiency of mobile robot. Based on the task priority of the mobil...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/12/6/1402 |
| _version_ | 1797612163921084416 |
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| author | Yanfang Deng Taijun Li Mingshan Xie Song Zhang |
| author_facet | Yanfang Deng Taijun Li Mingshan Xie Song Zhang |
| author_sort | Yanfang Deng |
| collection | DOAJ |
| description | It is necessary for robot-trailer to tow robot to the charging station for recharging when the robot fails, or the battery cannot support the robot to the charging station. However, the delay of towing robot is affecting the working efficiency of mobile robot. Based on the task priority of the mobile robot and impact degree on the room after the power failure, the paper proposes a distributed scheduling of robot being towed to recharge for reducing the delay expectation. This work designs a Distributed Three Nodes Service (DTNS) scheduling based on the communication between charging stations. The two-step path-planner based on decision factor and travel path is used in the scheme. Simulations show that the distributed scheduling of this work can well ensure the success communication in the case of low power, and DTNS can well reduce the delay expectation of towing robot to recharge. Compared with First Come First Service (FCFS) scheduling, DTNS reduces the towing delay by 48.71%, 48.83% and 40.45% when there are some robots sending the towing request, and by 58.77%, 39.97% and 41.90% when no robot sends request in the case of 1, 2 and 3 robot trailers in the service space respectively. |
| first_indexed | 2024-03-11T06:38:25Z |
| format | Article |
| id | doaj.art-016a8975ffd4491592f24fbf1be2e35a |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-11T06:38:25Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-016a8975ffd4491592f24fbf1be2e35a2023-11-17T10:45:08ZengMDPI AGElectronics2079-92922023-03-01126140210.3390/electronics12061402Distributed Multi-Robot-Trailer Scheduling Based on Communication between Charging Stations for Robot Being Towed to RechargeYanfang Deng0Taijun Li1Mingshan Xie2Song Zhang3School of Information and Communication Engineering, Hainan University, Haikou 570228, ChinaSchool of Information and Communication Engineering, Hainan University, Haikou 570228, ChinaCollege of Big Data and Information Engineering, Guizhou University, Guiyang 550025, ChinaCollege of Big Data and Information Engineering, Guizhou University, Guiyang 550025, ChinaIt is necessary for robot-trailer to tow robot to the charging station for recharging when the robot fails, or the battery cannot support the robot to the charging station. However, the delay of towing robot is affecting the working efficiency of mobile robot. Based on the task priority of the mobile robot and impact degree on the room after the power failure, the paper proposes a distributed scheduling of robot being towed to recharge for reducing the delay expectation. This work designs a Distributed Three Nodes Service (DTNS) scheduling based on the communication between charging stations. The two-step path-planner based on decision factor and travel path is used in the scheme. Simulations show that the distributed scheduling of this work can well ensure the success communication in the case of low power, and DTNS can well reduce the delay expectation of towing robot to recharge. Compared with First Come First Service (FCFS) scheduling, DTNS reduces the towing delay by 48.71%, 48.83% and 40.45% when there are some robots sending the towing request, and by 58.77%, 39.97% and 41.90% when no robot sends request in the case of 1, 2 and 3 robot trailers in the service space respectively.https://www.mdpi.com/2079-9292/12/6/1402robot-trailerdistributed scheduling modelimpact degree |
| spellingShingle | Yanfang Deng Taijun Li Mingshan Xie Song Zhang Distributed Multi-Robot-Trailer Scheduling Based on Communication between Charging Stations for Robot Being Towed to Recharge Electronics robot-trailer distributed scheduling model impact degree |
| title | Distributed Multi-Robot-Trailer Scheduling Based on Communication between Charging Stations for Robot Being Towed to Recharge |
| title_full | Distributed Multi-Robot-Trailer Scheduling Based on Communication between Charging Stations for Robot Being Towed to Recharge |
| title_fullStr | Distributed Multi-Robot-Trailer Scheduling Based on Communication between Charging Stations for Robot Being Towed to Recharge |
| title_full_unstemmed | Distributed Multi-Robot-Trailer Scheduling Based on Communication between Charging Stations for Robot Being Towed to Recharge |
| title_short | Distributed Multi-Robot-Trailer Scheduling Based on Communication between Charging Stations for Robot Being Towed to Recharge |
| title_sort | distributed multi robot trailer scheduling based on communication between charging stations for robot being towed to recharge |
| topic | robot-trailer distributed scheduling model impact degree |
| url | https://www.mdpi.com/2079-9292/12/6/1402 |
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