Motion of multiple robot in a curved boundary & obstacles

Abstract

An attempt is made in this paper to gain the flexibility of movement of robots around the boundary of the workspace, where in many robots are moving at a time in the presence of the static curved obstacles. The boundary of the workspace may be a straight line or curve shaped. The obstacle may be polygonal or curved shaped. A program is developed for the motion of the multiple robots to move from its origin location to the desired location without colliding with the boundary, the other moving robots and the static obstacles. The program is based on the curve fitting technique. As and when the robot comes close to the curved boundary or curved barrier, it will trace the path formed by the curve equation using the technique of curve fitting. Since there are multiple robots, the path planning ensures the robots to reach their targets in minimum time. During tracing the path, if more than one robot is following the same path, priority is assigned to such robots. Multiple robots finds application in assembly operations, medical supplies and meals to patients, disinfecting the rooms for patients etc.