Abstract
The use of Autonomously Guided Vehicles (AGVs) or articulated robot arms, is an important consideration for the efficiency of an automated manufacturing process. In the machining industry the use of robotic systems has made the mass production a human unassisted process with very precise results leading to good quality products. In this paper an algorithm for motion planning of an AGV in time-varying environments is presented. More specifically this algorithm finds the time-minimal collision-free motion from an initial point to a goal point for an AGV, in an environment populated by static and time-varying obstacles. The algorithm’s computational complexity is O(n2 log n), where n is the total number of the obstacles’ configuration space vertices.
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