Multidisciplinary Journal of Science and Technology

TOPOLOGY OPTIMIZATION FOR THE COLLABORATIVE ROBOTS' MOTION IN A PRODUCTION ENVIRONMENT USING THE STOCHASTIC VECTOR FLOW METHOD AND SIMULATION BASED ON DYNAMIC INFLUENCE FIELDS

Vladyslav Yevsieiev

1Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Amer Abu-Jassar

2Department of Computer Science, College of Information Technology, Amman Arab University, Amman, Jordan

Svitlana Maksymova

1Department of Computer-Integrated Technologies, Automation and Robotics, Kharkiv National University of Radio Electronics, Ukraine

Jafar Ababneh

3Cyber Security department, Faculty of Information Technology, Zarqa University, Zarqa, Jordan

Keywords: Collaborative Robotics, Stochastic Vector Flows, Dynamic Influence Field, Trajectory Optimization, Manufacturing Environment, Cognitive Control, Motion Simulation, Inter-Agent Interaction, Obstacle Avoidance, Industry 5.0.

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Abstract

The article presents an approach to optimizing the topology of collaborative robot movement in a production environment, taking into account the dynamics of space and interaction between agents. The method is based on the construction of stochastic vector flows that take into account the deterministic components of the influence of target points, obstacles and inter-robot interaction, supplemented by Gaussian noise to ensure the adaptability and uniqueness of trajectories. The behavior of robots in an environment with dynamic obstacles is simulated, which allows us to investigate the effectiveness of the constructed trajectories in the context of achieving the goal, avoiding collisions and supporting functional coordination. The results confirm the effectiveness of the approach for tasks of autonomous navigation and cognitive collaborative control in the conditions of Industry 5.0.

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