Partitioning Algorithm for Path Determination of Automated Robotic Part Delivery System in Manufacturing Environments

摘要

This paper presents a student research project as a supplement to the undergraduate curriculum for students in the area of Science, Technology, Engineering and Mathematics. The goal of the project presented in this paper is to provide students with experience in design of a routing path for an automated robotic part delivery system in manufacturing environments. Despite all advancement in automation of manufacturing processes, still there are many challenges that need attentions in automating part transformation between manufacturing stations on an unstructured plant. In this study, first a mathematical model of a plant layout containing static obstacles is constructed. A partitioning algorithm is then introduced that partitions the layout into obstacle-free regions. Next, a searching algorithm is utilized to yield all possible combinations of regions that can connect a starting point to a destination throughout the plant layout. Finally, physical paths are constructed by drawing line segments within the obstacle-free regions and through the intersections between the regions. A program in C language has been developed that accommodates the algorithm introduced. Excellent level of success has been measured in the performance of the designed algorithm and program code. This study could be potentially beneficial to the industry since it tends to remove the labor costs.