Publications / 1994 Proceedings of the 11th ISARC, Brighton, United Kingdom
Autonomous task-planning is a major phase within the systemic approach towards robotized performance of interior-finishing building tasks. This paper presents mathematical formulations and offers near optional solutions for three hierarchical levels of the task planning procedure. The macro-level deals with the robots travelling among multiple rooms on a building floor. This is determined by the application of the well known Travelling Salesmans Problem (TSP) algorithm, in which each node on the network represents a room, and each arc represents a door between two rooms. The next main level deals with the near-optimal positioning and routing of the robot among workstations within a room. A original algorithm was developed to minimize the total cost through dynamic programming by a recursive solution. The last, micro-level of pre-planning the exact path of the tool from each workstation is briefly presented.