title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð²Ð·Ð°Ð¸Ð¼Ð½Ð¾Ð¹ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÐ¸Ð¸ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Ð² Ð·Ð°Ð´Ð°ÑÐµ Ð»Ð¾ÐºÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Development of an algorithm for mutual coordination of industrial robots in the task of local trajectory planning
Creators: name: ÐÐ°Ð½ÑÐºÐ¾Ð², ÐÐ»ÑÑ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐ¹ ÑÐ¾Ð±Ð¾Ñ
Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ
ÐºÐ¾Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²
ROS
Gazebo
industrial robot
trajectory planning
robot cooperation

description: ÐÐ±ÑÐµÐºÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ²Ð»ÑÑÑÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ, ÐºÐ¾ÑÐ¾ÑÑÐµ Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÑÑÑÑ Ð² ÑÐ¾Ð²ÑÐµÐ¼ÐµÐ½Ð½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ñ ÑÐ¸ÑÑÐµÐ¼Ð°Ñ Ð¿ÑÐ¸ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÐ¸Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ð¹ Ð½ÐµÑÐºÐ¾Ð»ÑÐºÐ¸Ñ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÑÂ  ÑÐ¾Ð±Ð¾ÑÐ¾Ð². Ð¦ÐµÐ»ÑÑ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ, ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾Ð³Ð¾ ÑÐ°Ð±Ð¾ÑÐ°ÑÑ Ð² ÑÐ¸ÑÑÐµÐ¼Ð°Ñ Ñ Ð´Ð²ÑÐ¼Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°Ð¼Ð¸ Ð² Ð¿ÑÐ¸ÑÑÑÑÑÐ²Ð¸Ð¸ ÑÑÐ°ÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¸ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¿ÑÐµÐ¿ÑÑÑÑÐ²Ð¸Ð¹. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¼ÐµÑÐ¾Ð´Ñ Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ, Ð¿ÑÐ¸Ð²ÐµÐ´ÐµÐ½Ñ Ð¾ÑÐ¾Ð±ÐµÐ½Ð½Ð¾ÑÑÐ¸ Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð° Ð¸ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¸. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð¸Ð¸ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð²ÑÐ±ÑÐ°Ð½ Ð¼ÐµÑÐ¾Ð´ ÑÐ»Ð°ÑÑÐ¸ÑÐ½ÑÑ Ð»ÐµÐ½Ñ Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¹ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð² ÑÑÐµÐ´Ðµ ROS. ÐÑÑÑÐµÑÑÐ²Ð»ÐµÐ½Ð° Ð½Ð°ÑÑÑÐ¾Ð¹ÐºÐ° Ð¾ÐºÑÑÐ¶ÐµÐ½Ð¸Ñ ROS Ð´Ð»Ñ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ. ÐÐ»Ñ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð²ÑÐ±ÑÐ°Ð½ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ KUKA KR 150 R3100-2 Ð¸ Ð½Ð°ÑÑÑÐ¾ÐµÐ½ Ð¿Ð°ÐºÐµÑ ROS Ð´Ð»Ñ Ð¿Ð¾Ð´Ð´ÐµÑÐ¶ÐºÐ¸ ÑÐ°Ð±Ð¾ÑÑ ÑÑÐµÐ¹Ð¼Ð²Ð¾ÑÐºÐ° MoveIt. Ð¡Ð¾Ð·Ð´Ð°Ð½ Ð¿Ð°ÐºÐµÑ ROS Ð´Ð»Ñ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÐ¸ Ð·Ð°Ð¿ÑÑÐºÐ° Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ñ Ð½ÐµÑÐºÐ¾Ð»ÑÐºÐ¸Ð¼Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°Ð¼Ð¸ Ð² ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐµ Gazebo Ð¸ Ð¾ÑÐ»Ð°Ð´ÐºÐ¸ Ð² ÑÑÐµÐ´ÑÑÐ²Ðµ Ð²Ð¸Ð·ÑÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ RViz. ÐÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÐµ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð² MoveIt, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¸Ð·ÑÑÐµÐ½Ñ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¼ÐµÑÐ¾Ð´Ð° ÑÐ»Ð°ÑÑÐ¸ÑÐ½ÑÑ Ð»ÐµÐ½Ñ Ð´Ð»Ñ Ð¼Ð½Ð¾Ð³Ð¾Ð¿Ð¾Ð´Ð²Ð¸Ð¶Ð½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð². ÐÐ°Ð¿Ð¸ÑÐ°Ð½Ð° ÑÐ¾Ð±ÑÑÐ²ÐµÐ½Ð½Ð°Ñ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð¿Ð»Ð°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¿Ð¾ Ð¼ÐµÑÐ¾Ð´Ñ ÑÐ»Ð°ÑÑÐ¸ÑÐ½ÑÑ Ð»ÐµÐ½Ñ Ð½Ð° ÑÐ·ÑÐºÐµ C++ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÑÐµÐ´Ñ ROS. ÐÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð° ÑÐ°Ð±Ð¾ÑÐ° Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° Ð² Ð½ÐµÑÐºÐ¾Ð»ÑÐºÐ¸Ñ ÑÑÐµÐ½Ð°ÑÐ¸ÑÑ.
description: The object of the research is the motion planning algorithms, which are used in modern robotic systems for the motion coordination of several industrial robots. The aim of the work is to develop a motion planning algorithm that is capable of work in systems with two manipulators in the presence of static and dynamic obstacles. The existing methods of motion planning are considered, the features of their work, as well as their advantages and disadvantages are given. Based on the comparison of the methods, the elastic band method was selected for further implementation in the ROS environment. The setup of ROS environment for the simulation is done. KUKA KR 150 R3100-2 manipulator was selected for the experiments and ROS package was configured to support the MoveIt framework. Created ROS package to be able to run multi-robot simulation in the Gazebo simulator and debugging in the RViz visualization tool. Existing software implementations of motion planning algorithms in MoveIt have been analyzed and implementations of the elastic band method for multi-degree-of-freedom robots have been studied. Novel realization of motion planning algorithm based on elastic band method using C++ programming language and ROS environment is written. The algorithm is tested in several scenarios.