Numerical simulation of the workspace of robots with moving bases in the multi-agent system

Abstract Multi-robotic systems are used to solve many practical tasks in wide areas, including military surveillance, reconnaissance, rescue operations, warehousing, etc. Such systems can be represented as groups of intelligent robots capable of interacting with each other and jointly implementing various tasks. One of the problems in the development of such systems is the safe navigation of a group of robots. The restrictions imposed by the structural elements of its agents are determined to solve it. The article presents the structure of a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the possibility of rotating the robot base about the horizontal axis. Determining the workspace boundaries of robots eliminates collisions between agents and external objects. The developed algorithms are based on deterministic methods for approximating the solutions set of nonlinear inequalities systems with restrictions in spaces of coordinates in the form of n-dimensional boxes. The relative positions of mobile platforms with manipulators, at which collisions are possible, are determined.