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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Olga Strikuliene & Kastytis Kiprijonas Sarkauskas & Julius Gelsvartas & Leonas Balasevicius & Virginijus Baranauskas & Alma Derviniene, 2023. "Path Planning of Logistic Robot Using Method of Vector Marks Tree Generation," Mathematics, MDPI, vol. 12(1), pages 1-16, December.
    • Handle: RePEc:gam:jmathe:v:12:y:2023:i:1:p:73-:d:1307300
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