Diseño y evaluación de un software de planificación de rutas de robots considerando diagramas de Voronoi

Abstract

This paper presents the design and implementation of a path simulator for 2 laboratory robots using Voronoi diagrams for the identification of the most optimal path between a starting point and an end point in a two-dimensional space. The simulator was developed in Python 3 making use of the Tkinter library for the graphical interface; the choice of the A* (A-Star) algorithm to find the shortest route optimizing the use of resources is highlighted. In addition, a safe navigation routine is developed which verifies the ability of an object to pass through the found route contemplating different obstacles. The routing of the environments is performed using the Voronoi technique, based on the assignment of generator points and distance equations. The routing process involves skeletonization of environments using OpenCV and other Python libraries. In summary, this paper describes the implementation of an optimal and safe path finding algorithm for real robots. Note that the use of path-finding algorithms is essential in multiple applications, from navigation systems to logistics and resource optimization. The ability to find the most efficient route between two points in a given environment is a recurring need in various fields. This contribution is expected to advance the understanding of how programming and technology can address complex challenges in various disciplines.