Efficiently Guiding K-Robots Along Pathways with Minimal Turns

INTRODUCTION: This paper addresses the navigation of a team of k protector robots within pathways, focusing on minimizing the total number of turns. These robots utilize orthogonal routes known as watchman routes, which prioritize finding the shortest path while maintaining visibility of all points in the environment from at least one robot on its designated route. The main objective of this research is to optimize robot navigation by reducing the overall number of turns.OBJECTIVES: The primary objective of this study is to develop a linear-time algorithm that efficiently processes and determines routes for k robots within a specified area. By minimizing the number of turns, this algorithm aims to enhance the navigation capabilities of watchman robots, enabling them to effectively traverse complex environments.METHODS: This research employs techniques derived from computational geometry to investigate the navigation of protector robots. The focus is on developing an algorithm that can efficiently process and determine the optimal routes for the robots, considering factors such as visibility and shortest path length. The algorithm is designed to minimize the number of turns while en