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A multi-layer approach for interactive path planning control.

Cailhol, Simon and Fillatreau, Philippe and Fourquet, Jean-Yves and Zhao, Yingshen A multi-layer approach for interactive path planning control. (2014) In: 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014), 1 September 2014 - 3 September 2014 (Vienne, Austria).

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Official URL: http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0005055200900101

Abstract

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 in real-time and computes 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)
Additional Information:A Multi-layer Approach for Interactive Path Planning Control.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 90-101. DOI: 10.5220/0005055200900101
HAL Id:hal-02053189
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - INPT (FRANCE)
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Deposited By: Pascale Lalot
Deposited On:15 Jan 2019 10:21

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