Safety path planning with obstacle avoidance using particle swarm optimization for agv in manufacturing layout

In robotic systems, path planning is the one of important processes for robot motion. The best path planning is required for shortest path searching that can make fast movement of robot. However, the real environment is not only the path from point to point but it has obstacles which are the one of constraints for best path searching. The obstacle avoidance is concerned to avoid the crashing between robot and obstacle under environment. In Hard Disk Drive manufacturing, the first priority is safety constraint for non-collision and second priority is shortest path for processing time saving. This research designed the algorithm for path planning and obstacle avoidance for AGV in Hard Disk Drive Manufacturing of Seagate Technology (Thailand) Ltd by using particle swarm optimization. The fitness function on particle swarm optimization process for particle searching has been integrated with obstacle avoidance function to find the best path for robot without collision and total distance to find the shortest path. This algorithm is applied to verifying the model performance. The simulation results of this research are done by MATLAB 2016b and illustrate the good performance on different cases with controlled parameter.