A flexible multiple mobile robots system

Optimal performance of a manufacturing layout consisting of several mobile robots performing specific transportation tasks is addressed. A synergistic approach based on decentralized path planning, heuristic-algorithm-based navigation, and localized collision avoidance is presented. A comprehensive, flexible multiple mobile robots system (MMRS) consisting of standard patterns, a local controller, and individual mobile robots is described. The mobile robots are capable of performing their own path planning and collision avoidance by means of ultrasonic sensors, standard patterns, and rotary optical encoders. Specially designed algorithms for the mobile robot and local controller are presented. To ensure greater flexibility in designing the layout, the MMRS was interfaced with a specially designed CAD subsystem. Simulations using varying numbers of robots were performed on a sample layout that was designed using the CAD subsystem. The results of the simulation illustrate the validity of the approach