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On the Collaboration of an Automatic Path-Planner and a Human User for Path-Finding in Virtual Industrial Scenes

Ladevèze, Nicolas and Fourquet, Jean-Yves On the Collaboration of an Automatic Path-Planner and a Human User for Path-Finding in Virtual Industrial Scenes. (2010) In: 11th International Conference on Control Automation Robotics & Vision (ICARCV) , 7-10 Dec 2010 , Singapore .

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Official URL: http://dx.doi.org/10.1109/ICARCV.2010.5707861

Abstract

This paper describes a global interactive framework enabling an automatic path-planner and a user to collaborate for finding a path in cluttered virtual environments. First, a collaborative architecture including the user and the planner is described. Then, for real time purpose, a motion planner divided into different steps is presented. First, a preliminary workspace discretization is done without time limitations at the beginning of the simulation. Then, using these pre-computed data, a second algorithm finds a collision free path in real time. Once the path is found, an haptic artificial guidance on the path is provided to the user. The user can then influence the planner by not following the path and automatically order a new path research. The performances are measured on tests based on assembly simulation in CAD scenes.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to IEEE editor. The definitive version is available at http://dx.doi.org/10.1109/ICARCV.2010.5707861
Audience (conference):International conference proceedings
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Institution: Université de Toulouse > Institut National Polytechnique de Toulouse - INPT
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Deposited By:J-Y. FOURQUET

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