Affiliation:
1. University of the Aegean, Greece
2. University of Patras, Greece
Abstract
The purpose of this chapter is to present an integrated approach for Mission Design of a team of Service Robots that is operating in partially known indoor environments such as libraries, hospitals, or warehouses. The robots are requested to serve a number of service stations while taking into account movement safety and other kinematical constraints. The Bump-Surface concept is used to represent the robots' environment through a single mathematical entity and an optimization problem is formulated representing an aggregation of paths length and movement constraints. Then a modified Genetic Algorithm with parallel populations is used for solving the problem of mission design of a team of service robots on the constructed Bump-Surface. Three simulation examples are presented to show the effectiveness of the presented approach.