Multi-objective multi-fidelity optimisation for position-constrained human-robot collaborative disassembly planning

摘要

Human-robot collaborative disassembly lines are widely used by remanufacturing companies to disassemble end-of-life (EOL) products. When disassembling large-sized EOL products, each workstation on a disassembly line is generally divided into multiple operating positions, so that different operators can disassemble the same product at their respective positions at the same time, thereby greatly improving efficiency. This paper focuses on a position-constrained human-robot collaborative disassembly planning (PC-HRCDP) problem for the above-mentioned lines, including three subproblems of disassembly sequence planning, disassembly line balancing and robot path planning. A multi-objective mixed integer programming model for PC-HRCDP is developed to solve small-scale instances. Furthermore, a multi-objective multi-fidelity optimisation (MO-MFO) algorithm is proposed to solve large-scale instances. Comprehensive experiments are conducted based on 10 problem instances generated in this study. Experimental results show that the proposed MO-MFO is better than a high-fidelity optimisation algorithm in terms of running time. In addition, benefiting from the strategy of MO-MFO to allocate the limited high-fidelity computational budget to solutions in the two stages of multi-objective optimisation and optimal sampling, MO-MFO is significantly better than the existing representative multi-fidelity optimisation algorithms in terms of the hyper-volume and the inverted generational distance.