Algorithms And Software Tool For Mobile Robots Actions Planning And Supervision

Abstract

This paper tackles the problem of the controlled movement for guided mobile robots than work in a processing department. The main goals of the guided vehicles are to carry and to manipulate the half-processed parts between some machine tools with a view to finalizing their technological process. The working area in which the robots have access is assumed to be configured such as there may be created many ways (successive access segments for robots been guided through, eventually disposed with respect to the x-y plane axis). The user has the possibility to access a CAD tool for the zone configuring process. He may specify the area parameters, such as segments length and orientation, the number and the position of intersection points, the number of operational RGVs and their initial position, the predefined steps for each robot-working program.