CAD/simulation for dynamic environments

H. Fok, M. R. Kabuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


The architecture and working of a flexible multiple mobile robot system (MMRS) are described. The use of a path network to define allowed paths for the mobile robots is proposed. This greatly simplifies the detection of possible collisions between the robots and the problem of replanning the motion. The MMRS is divided into three main components (1) standard pattern, (2) central controller, and (3) individual mobile robot. The architecture of the proposed MMRS is presented and its operation discussed in detail. Efficient control algorithms for both the central controller and individual mobile robots are developed and presented. A CAD (computer-aided-design)/simulation system for the design and evaluation of the MMRS is developed. Simulation results to emphasize the validity of the system are presented.

Original languageEnglish (US)
Title of host publicationProc 5 IEEE Int Symp Intell Control 90
PublisherPubl by IEEE
Number of pages8
ISBN (Print)0818621087
StatePublished - Dec 1 1990
EventProceedings of the 5th IEEE International Symposium on Intelligent Control 1990 - Philadelphia, PA, USA
Duration: Sep 5 1990Sep 7 1990

Publication series

NameProc 5 IEEE Int Symp Intell Control 90


OtherProceedings of the 5th IEEE International Symposium on Intelligent Control 1990
CityPhiladelphia, PA, USA

ASJC Scopus subject areas

  • Engineering(all)


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