A Multi-Objective Optimization Method of a Mobile Robot Milling System Construction for Large Cabins

Featured Application This method can evaluate the performance of mobile robot milling system construction from three aspects; accuracy, efficiency and cost, without investing in actual hardware, and provide alternative schemes to ensure the correctness and effectiveness of the system construction, which can be extended to the construction process of modular systems in other fields. Constructing mobile robot milling systems with multiple mounting surfaces for large cabins still has several unsolved issues, such as huge economic and time costs, unpredictable milling accuracy and milling time. Hence, a multi-objective optimization method for constructing a mobile robot milling system of large cabins is proposed in the current paper. Firstly, mathematical models of constructing the system and the optimization objective function are established. Thereafter, a multi-objective optimization method for the mobile robot milling system construction based on NSGA-II (Fast Non-dominated Sorting Genetic Algorithm) is proposed. Finally, feasibility and validity of the proposed method are verified through comparing the optimization result with two practical mobile robot systems. Results show that the proposed method is able to estimate different combinations' milling accuracy, cost and time consumption.