Mobile Robots’ Collision Prediction Based on Virtual Cocoons

The research work presents a collision prediction method of mobile robots. authors the use so-called, virtual cocoons to evaluate criteria two idea, mathematical representation calculations and experimental simulations are presented in paper work. A model industrial process with moving robots was created. Obstacle avoidance not solved here. article were working on problem solving between Theoretical approach dependences path angles Experimental simulations, using software Centaurus CPN, based colored Petri nets, has shown, that possible conflict can be predicted advance angle movement possibly colliding cocoons. Authors explains where different angles, which intersects each other. Proposed algorithm solves task several possibilities. Software CPN gives possibility stop simulation manufacturing place it finds In order check correctness proposed algorithm, further is done step by step, while situation solved. Simulated continued till new obtained.