TOPOLOGY OPTIMIZATION FOR THE COLLABORATIVE ROBOTS' MOTION IN A PRODUCTION ENVIRONMENT USING THE STOCHASTIC VECTOR FLOW METHOD AND SIMULATION BASED ON DYNAMIC INFLUENCE FIELDS

The article presents an approach to optimizing the topology of collaborative robot movement in a production environment, taking into account the dynamics of space and interaction between agents. The method is based on the construction of stochastic vector flows that take into account the deterministic components of the influence of target points, obstacles and inter-robot interaction, supplemented by Gaussian noise to ensure the adaptability and uniqueness of trajectories. The behavior of robots in an environment with dynamic obstacles is simulated, which allows us to investigate the effectiveness of the constructed trajectories in the context of achieving the goal, avoiding collisions and supporting functional coordination. The results confirm the effectiveness of the approach for tasks of autonomous navigation and cognitive collaborative control in the conditions of Industry 5.0.