Novel method for welding gantry robot scheduling at shipyards

Welding is the most critical operation in the shipbuilding process and has a significant influence on the production cost and quality of ships. Therefore, the welding operation must be optimised. This paper presents a real-world welding gantry robot scheduling problem at shipyards, in which three gantry robots function in parallel. Welding gantry robots cannot cross each other and should operate over a certain distance to avoid collisions. To minimise the makespan, the welding tasks given by line segments should be evenly distributed among the three gantry robots. The welding tasks assigned to each robot should be optimally sequenced to minimise the completion time, including the waiting time required to prevent collisions with neighbouring robots. In addition, long welding edges are split, and the split small length edges are assigned to the gantry robots. This paper proposes a mixed-integer linear programming model, three-stage solution approach, and variable neighbourhood search algorithm to solve this problem. Experimental tests conducted on 20 real problem instances revealed that the proposed approach can reduce the makespan by 14% on average when compared with the conventional method.