Abstract: This study discusses about the planner in which the simulation ensures that all the robots starting from its source position are destined. Since it considers the static obstacles along with the moving obstacles which are robots itself, the path is coordinated in such a way that the trajectory is deviated when it is heading towards the obstacle and the path of the trajectory is a straight line till it comes near the obstacle and then it takes the shape of the obstacle with an offset distance of maintaining the minimum gap from the obstacle and again follows the straight line motion. When these robots are having collision with the other moving robots then, the priority is taken into consideration and the collision is avoided by changing the velocity of the robots.
Eswar Reddy Chevi Reddy , Rajagopal Kuderu and Prasanna Lakshmi Kaujala , 2007. Robots with Obstacles. Research Journal of Applied Sciences, 2: 1218-1222.