A Dynamic Programming Based Improvement Heuristic for a Repetitive Routing Problem of Grasp-and-Delivery Robots
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概要
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We consider a repetitive routing problem of a single grasp-and-delivery robot used on a printed circuit board (PCB) assembly line. The robot arranges <I>n</I> identical pins from their current configuration to the next required one by transferring at most one pin at a time. The pins support a PCB from underneath to prevent it from overbending, while an automated manipulator embeds electronic parts in the PCB from above. Given an initial configuration of pins and a sequence of <I>m</I> required configurations, the problem asks to find a transfer route of the robot that minimizes the route length over all <I>m</I> transitions. A polynomial time approximation algorithm with factor two has been proposed by the authors to the problem. In this paper, we design a dynamic programming (DP) procedure to improve its empirical performance, and also conduct numerical experiments to show how well the proposed DP procedure performs.
著者
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KARUNO Yoshiyuki
Department of Mechanical and System Engineering, Kyoto Institute of Technology
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Karuno Yoshiyuki
Department Of Mechanical And System Engineering Faculty Of Engineering And Design Kyoto Institute Of
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Nagamochi Hiroshi
Department Of Applied Mathematics And Physics Graduate School Of Engineering Kyoto University
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SHURBEVSKI Aleksandar
Graduate School of Science and Technology, Kyoto Institute of Technology
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