UAV-Robot Relationship for Coordination of Robots on a Collision Free Path

The use of UAVs and robots in the commercial purposes has increased significantly in last few years. Along with the research being conducted for both UAVs and mobile robots individually throughout the research community, there has been a significant amount of work going in the field of the relationship of UAVs and mobile robots. In this paper, we present an algorithm to establish a relationship between a UAV and n robots. The target is to successfully lead n robots to n different goal positions. None of the goals is shared by more than one robots. UAV will be acting as the leader of robots and will have the bird-eye view of the environment. The UAV will calculate an efficient path plan for every robot that will help the robot to reach the goal by avoiding the static obstacles as well as the inter-robot collision during the movement of robots. We have simulated our algorithm in software using Python as well as MATLAB and also have compared two pathfinding algorithms wiz. A* and PRM for finding the path for a robot from its source to the given destination. The result establishes the efficient coordination between UAVs and robots for targeting the goal.