Algoritmo para la prevención de colisiones durante el proceso de transporte y clasificación de objetos sobre una banda omnidireccional celular

Abstract

This article presents the development of the algorithm for collision avoidance of a cellular omnidirectional conveyor belt made up of 17 cells. The algorithm based on graph theory that together with the route planning addition formulates possible routes for moving objects. Finally, this combined with the simulation in the Matlab software tool of the different cases in which objects enter the conveyor belt; specifies the collision-free transport path of objects on the band. This is valid for the prototype of the cellular omnidirectional band developed and with the dimensions of the objects described in the design. However, it can be coupled to any type of band that meets the conditions of a cellular omni-directional band.