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A hierarchic approach for path planning in virtual reality

Cailhol, Simon and Fillatreau, Philippe and Zhao, Yingshen and Fourquet, Jean-Yves A hierarchic approach for path planning in virtual reality. (2015) International Journal on Interactive Design and Manufacturing (IJIDeM), 9. ISSN 1955-2513

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Official URL: http://dx.doi.org/10.1007/s12008-015-0272-5

Abstract

This work considers path-planning processes for manipu- lation tasks such as assembly, maintenance or disassem- bly in a virtual reality (VR) context. The approach con- sists 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 users intention and computes in real-time a new path starting from the users guess. Experiments illustrate the different aspects of the approach: multi-representation of the en- vironment, path planning process, users intent prediction and control sharing.

Item Type:Article
Additional Information:Thanks to springer editor. The definitive version is available at http://link.springer.com The original PDF of the article can be found at International Journal on Interactive Design and Manufacturing (IJIDeM) website : http://dx.doi.org/10.1007/s12008-015-0272-5
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - INPT (FRANCE)
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Deposited By: Simon Cailhol
Deposited On:15 Apr 2015 12:49

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