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A multi-layer approach for path planning control in Virtual Reality simulation

Cailhol, Simon and Fillatreau, Philippe and Fourquet, Jean-Yves and Zhao, Yingshen A multi-layer approach for path planning control in Virtual Reality simulation. (2014) In: Joint conference on Mechanical, Design Engineering & Advanced Manufacturing, 18 June 2014 - 20 June 2014 (Toulouse, France). (Unpublished)

(Document in English)

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This work considers path-planning processes for manipulation tasks such as assembly, maintenance or disassembly in a virtual reality (VR) context. The approach consists in providing a collaborative system associating a user immersed in VR and an automatic path planning process. It is based on semantic, topological and geometric representations of the environment and the planning process is split in two phases: coarse and fine planning. The automatic planner suggests a path to the user and guides him trough a haptic device. The user can escape from the proposed solution if he wants to explore a possible better way. In this case, the interactive system detects the user’s intention and computes in real-time a new path starting from the user’s guess. Experiments illustrate the different aspects of the approach: multi-representation of the environment, path planning process, user’s intent prediction and control sharing.

Item Type:Conference or Workshop Item (Paper)
HAL Id:hal-04082090
Audience (conference):International conference without published proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Laboratory name:
Deposited On:16 Jul 2014 14:18

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