Faculty of Mechanical Engineering, Lj. (FSLJ)
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Dodeljevanje transportnih naročil na osnovi vzpodbujevalnega učenja v sistemu mobilnih robotov : magistrsko delo magistrskega študijskega programa II. stopnje StrojništvoKnap, MartinModerne rešitve na področju logistike obsegajo uporabo sistemov z več mobilnimi roboti. Pogoj za uspešno implementacijo takšnega sistema je učinkovit sistem dodeljevanja transportnih naročil. Ta mora ... skupini robotov transportna naročila dodeljevati tako, da jih ta opravijo čim več. Problem smo prepoznali kot problem optimizacije več kriterijev. Cilj naloge je razvoj algoritma, ki problem dodeljevanja rešuje na osnovi vzpodbujevalnega učenja. Algoritem smo razvijali v programskem okolju ROS. Razvili smo dodeljevalni algoritem s poudarkom na hitremu učenju. Razviti algoritem smo preizkusili v simuliranemu preizkusu. Njegovo delovanje smo primerjali z algoritmi, ki naročila dodeljujejo na osnovi preprostih pravil in izpolnjujejo le en kriterij problema. Vsak način dodeljevanja smo preizkušali v preizkusu, ki je trajal eno uro. Pri dodeljevanju z razvitim algoritmom so roboti zaključili največje število transportnih naročil. Meritve prepotovanih razdalj in časov opravljanja nalog so potrdile enostranskost preprostih pravil ter večkriterijski proces odločanja razvitega algoritma.Type of material - master's thesis ; adult, seriousPublication and manufacture - Ljubljana : [M. Knap], 2020Language - slovenianCOBISS.SI-ID - 38621699
Author
Knap, Martin
Other authors
Vrabič, Rok
Topics
magistrske naloge |
robotika |
optimizacija |
vzpodbujevalno učenje |
dodeljevanje naročil |
sistem mobilnih robotov |
ROS platforma |
master thesis |
robotics |
optimization |
reinforcement learning |
task assignment |
mobile robot system |
ROS platform
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MAG 0000000792 IN: 70000792 MAG 792 IN: 70000792 |
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Database name | Field | Year |
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Knap, Martin | |
Vrabič, Rok | 30914 |
Source: Personal bibliographies
and: SICRIS
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