Planejamento de Rota por Algoritmo Genético em Um Sistema Ciber-Físico

Héber Renato Fadel de Morais; Carlos Eduardo Angelini; André Luiz Salvat Moscato; João Paulo Lima Silva de Almeida; Lúcia Valéria Ramos de Arruda

doi:10.20906/SBAI-SBSE-2023/3926

Héber Renato Fadel de Morais Instituto Federal de Educação, Ciência e Tecnologia do Paraná, PR / Universidade Tecnológica Federal do Paraná, PR
Carlos Eduardo Angelini Instituto Federal de Educação, Ciência e Tecnologia do Paraná, PR
André Luiz Salvat Moscato Instituto Federal de Educação, Ciência e Tecnologia do Paraná, PR
João Paulo Lima Silva de Almeida Instituto Federal de Educação, Ciência e Tecnologia do Paraná, PR / Universidade Tecnológica Federal do Paraná, PR
Lúcia Valéria Ramos de Arruda Universidade Tecnológica Federal do Paraná, PR

DOI: https://doi.org/10.20906/SBAI-SBSE-2023/3926

Keywords: Cyber-Physical System, Industry 4.0, Path planning, Intelligent systems, Genetic algorithm

Abstract

Mobile robots are one of the main components of the cyber-physical system (CPS) from Industry 4.0. In a CPS, real mobile robots must interact with other agents, real or virtual. Among the real agents, we can mention robots, human operators, and other autonomous machines. Virtual agents are generally program/algorithms for supervisory, control, IoT, robots and virtual machines. This work proposes a path-planning method based on a genetic algorithm for mobile robots working in a CPS environment. A hierarchical approach is adopted for CPS development, having four layers related to the nature of the task to be run: connection, conversion, cybernetic and cognitive. The CPS has four types of agents: the location assistant, the task manager, the planner, and the mobile robots. These agents operate in a cooperative and distributive way. Although the CPS architecture is presented, only the planner agent is detailed in this paper. Experimental results are carried out to validate the efficacy of the proposed path planning for mobile robots integrating a cyber-physical system.