Path Planning of Logistic Robot Using Method of Vector Marks Tree Generation

Olga Strikuliene, Kastytis Kiprijonas Sarkauskas, Julius Gelsvartas, Leonas Balasevicius, Virginijus Baranauskas () and Alma Derviniene
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Olga Strikuliene: Technology and Entrepreneurship Competence Center, Panevezys Faculty of Technologies and Business, Kaunas University of Technology, Nemuno St. 33-218, LT-37164 Panevezys, Lithuania
Kastytis Kiprijonas Sarkauskas: Department of Automation, Faculty of Electrical and Electronics Engineering, Kaunas University of Technology, Studentu St. 48-320, LT-51367 Kaunas, Lithuania
Julius Gelsvartas: Department of Automation, Faculty of Electrical and Electronics Engineering, Kaunas University of Technology, Studentu St. 48-320, LT-51367 Kaunas, Lithuania
Leonas Balasevicius: Department of Automation, Faculty of Electrical and Electronics Engineering, Kaunas University of Technology, Studentu St. 48-320, LT-51367 Kaunas, Lithuania
Virginijus Baranauskas: Department of Automation, Faculty of Electrical and Electronics Engineering, Kaunas University of Technology, Studentu St. 48-320, LT-51367 Kaunas, Lithuania
Alma Derviniene: Department of Electronics Engineering, Faculty of Electrical and Electronics Engineering, Kaunas University of Technology, Studentu St. 48-213, LT-51367 Kaunas, Lithuania

Mathematics, 2023, vol. 12, issue 1, 1-16

Abstract: The authors of this article analyzed the problem of logistic robotics. This paper presents a method for robot navigation in a known environment. The method consists of two steps. The first step is to model the system, assign vector marks to the prominent edges of the virtual environment map, and direct the robot to reach these marks. The second step is to enable the robot to execute a specific task based on the given paths and deal with the local obstacles avoidance independently. The identification of the prominent point, the computation of the vector mark, and optimal path calculation are performed on the computer model using colored Petri nets in the software ‘Centaurus CPN’. The proposed approach was extended to simulate the work of a logistic robot, which has to take boxes and deliver them to certain places in storages. The experimental investigation has shown that the simulated mobile robots with the proposed navigation system were efficiently moving along the planned path. The analysis of the vector tree reveals that it takes 0.389 s to compute and graphically represent it. The occupation of certain places in storages is visualized and shown in experimental graphics.

Keywords: robot control; path planning; vector mark; logistic robot; vector tree (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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