Software system for visualizing robot movement routes along optimal trajectories inside an industrial workshopof
Abstract
Software system for visualizing robot movement routes along optimal trajectories inside an industrial workshopof
Incoming article date: 12.04.2021In the automation of production, the use of robots is an important direction. When developing algorithms for controlling the movement of such a machine, multidirectional problems arise. In a critical situation, the robot must not harm workers or collide with its fellow robot. At the same time, the car must move along the optimal route. The article analyzes the methods of finding optimal paths on square navigation grids. The wave method on undirected planar graphs, the A* algorithm (an extension of Dijkstra's algorithm), and the D* Lite algorithm for graphs with non-constant or previously unknown structure were chosen for the analysis. A visualization and testing system in C#has been developed for the research and testing of algorithms. The system is implemented using the Microsoft Visual Studio 2019 IDE software tools and external GraphX and Emgu CV libraries. A unique feature of the system is the ability to directly read images of shop floor maps in widely used graphic formats and automatically convert them to a format that is understandable to the system. First, the user uploads the shop floor plan. For easier processing, the image is converted to two colors: black and white. Then the image is processed by the Emgu CV library, at the output we get all the contours of stationary obstacles. Then, depending on the size of the robot, an orthogonal navigation grid is superimposed. The analysis of the obtained results allows us to conclude that it is better to use a method (the D* Lite algorithm) that allows for a non-constant or unknown grid structure in advance.
Keywords: visualization, program, graphic format, work, shop, map, square, grid, cell, navigation, optimal route, planar graph