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Path planning control using high abstraction level environment model and industrial taskoriented knowledge

Léoty, Florent and Fillatreau, Philippe and Archimède, Bernard Path planning control using high abstraction level environment model and industrial taskoriented knowledge. (2021) In: 2021 IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics (ECMSM), 21 June 2021 - 22 June 2021 (Liberec, Czech Republic).

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Official URL: https://doi.org/10.1109/ECMSM51310.2021.9468850

Abstract

In order to face an increasing economic competition, industrial manufacturers wish to reduce the time and cost of product development. Furthermore, up-to-date products are more and more integrated, and must be assembled, disassembled or maintained under potentially very strong geometric constraints. In the context of Industry 4.0, manufacturers are therefore expressing the desire to validate all the tasks related to their products lifecycles, from design stage on, by simulation using a digital mock-up, and before building the physical prototypes. A key issue is then to find a trajectory, a movement, to show the feasibility of the simulated scenarios. Automatic path planning algorithms, developed by the robotics community from the 1980s on, have been widely used for this purpose. In this paper, we intend to improve the relevance of the trajectories proposed by such algorithms and the associated computation times. To do so, we consider: a) the use of path planning algorithms or of combinations of these; b) the involvement for the environment modelling of data with a higher abstraction level than the purely geometric data traditionally used; and c) the representation of the knowledge related to the task to be performed by using ontologies. The approaches developed and associated improvements of the state of the art are validated experimentally through the simulation of highly geometrically constrained manipulation tasks.

Item Type:Conference or Workshop Item (Paper)
Additional Information:© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Audience (journal):International peer-reviewed journal
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
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Deposited On:11 Oct 2021 12:04

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