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Hierarchic interactive path planning in virtual reality

Cailhol, Simon and Fillatreau, Philippe and Zhao, Yingshen and Fourquet, Jean-Yves Hierarchic interactive path planning in virtual reality. (2016) In: Informatics in Control, Automation and Robotics. (Lecture Notes in Electrical Engineering). Springer International Publishing, 179-203. ISBN 1876-1100

(Document in English)

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Official URL: http://doi.org/10.1007/978-3-319-26453-0_11


To save time and money while designing new products, industry needs tools to design, test and validate the product using virtual prototypes. These vir- tual prototypes must enable to test the product at all Product Life-cycle Management (PLM) stages. Many operations in PLM involve human manipulation of product com- ponents in cluttered environment (product assembly, disassembly or maintenance). Virtual Reality (VR) enables real operators to perform these tests with virtual proto- types. This work introduces a novel path planning architecture allowing collaboration between a VR user and an automatic path planning system. It is based on an origi- nal environment model including semantic, topological and geometric information, and an automatic path planning process split in two phases: coarse (semantic and topological information) and fine (semantic and geometric information) planning. The collaboration between VR user and automatic path planner is made of 3 main aspects. First, the VR user is guided along a pre-computed path through a haptic device whereas he VR user can go away from the proposed path to explore possible better ways. Second the authority of automatic planning system is balanced to let the user free to explore alternatives (geometric layer). Third the intents of VR user are predicted (on topological layer) to be integrated in the re-planning process. Exper- iments are provided to illustrate the multi-layer representation of the environment, the path planning process, the control sharing and the intent prediction.

Item Type:Book Section
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 Informatics in Control, Automation and Robotics website : http://link.springer.com/chapter/10.1007%2F978-3-319-26453-0_11
Audience (journal):International peer-reviewed journal
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
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Deposited On:26 Feb 2016 14:10

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