Mobile Robots’ Collision Prediction Based on Virtual Cocoons
Virginijus Baranauskas, Žydrūnas Jakas, Kastytis Kiprijonas Šarkauskas, Stanislovas Bartkevičius, Gintaras Dervinis, Alma Dervinienė, Leonas Balaševičius, Vidas Raudonis, Renaldas Urniežius, Jolanta Repšytė
Intelligent Automation & Soft Computing, Vol.32, No.3, pp. 1343-1356, 2022, DOI:10.32604/iasc.2022.022288
(This article belongs to this Special Issue:
Soft Computing Methods for Intelligent Automation Systems)
Abstract The research work presents a collision prediction method of mobile robots. The authors of the work use so-called, virtual cocoons to evaluate the collision criteria of two robots. The idea, mathematical representation of the calculations and experimental simulations are presented in the paper work. A virtual model of the industrial process with moving mobile robots was created. Obstacle avoidance was not solved here. The authors of the article were working on collision avoidance problem solving between moving robots. Theoretical approach presents mathematical calculations and dependences of path angles of mobile robots. Experimental simulations, using the software Centaurus CPN, based on…
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