A novel collaborative path planning algorithm for 3-wheel omnidirectional Autonomous Mobile Robot

Abstract

Collaboration of multiple mobile robots becomes important in situations where collaborative tasks are required. For this purpose, a method including obstacle detection based on collaborative path planning of multiple Autonomous Mobile Robots (AMRs) has been developed. This study ensures the usability of collaborative omnidirectional AMRs technologies in various fields. In the study, novel path planning and obstacle avoidance algorithms are developed for collaborative mobile robots with omnidirectional mobility. Essentially, these algorithms include motion planning performed by obstacle avoidance with two identical 3-wheel omnidirectional mobile robots (TWOMR). Numerical calculations of the collaborative algorithm have been performed after the kinematic calculations, and tested algorithms developed for the proposed model. As a result, it has been observed that the path planning and obstacle avoidance algorithms developed for collaborative omnidirectional AMRs successfully follow the Master robot in the most efficient trajectory without collision and it has been observed that the developed method works with high accuracy.