Multi-Agent System for Detection of the Moving Obstacles and Movement Planning for the Mobile Robot Systems

Abstract

The topic of this article is an off-line movement system for the mobile robots. Its main goal is to ensure their movement from one point to another in a partially determined environment with static and mobile obstacles. Several systems are described. They are calculation of the impact of a potential force field, path assessment based on a neural network, avoiding collision system and a multi-agent system architecture for detection of obstacles and mobile robot control. The article presents mobile robot agents, which process data concerning the environment, communicate with each other and allow a robot to avoid the static and dynamic obstacles. Besides that, the most important task for a robot is movement in a partially determined environment, in which the obstacles' coordinates are unknown for the system.