Reliability Based Task Allocation Analysis for Multi-Robot Systems by Using Fuzzy Logic

Abstract

Robotic systems are used many areas where it is dangerous or difficult for people to do. The importance of autonomous robots increased with the Industry 4.0, and the concept of reliability needed more attention for long term operability of robotic systems. In this study, reliability based task allocation analysis is performed for robots by using fuzzy logic. With the help of fuzzy inference system, the result of reliability based task allocation are obtained using the amount of carried load and load carrying distances. In the study, cases of task allocation based on nearest and reliability were analyzed and compared. Experimental results showed that, the system reliability that occurs with reliability based task allocation is higher than the system reliability that occurs with nearest based task allocation.