On the collaboration of an automatic path-planner and a human user for path-finding in virtual industrial scenes

This paper describes a global interactive framework enabling an automatic path-planner and a user to collaborate for finding a path in cluttered virtual environments. First, a collaborative architecture including the user and the planner is described. Then, for real time purpose, a motion planner divided into different steps is presented. First, a preliminary workspace discretization is done without time limitations at the beginning of the simulation. Then, using these pre-computed data, a second algorithm finds a collision free path in real time. Once the path is found, an haptic artificial guidance on the path is provided to the user. The user can then influence the planner by not following the path and automatically order a new path research. The performances are measured on tests based on assembly simulation in CAD scenes.

[1]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[2]  Howie Choset,et al.  Principles of Robot Motion: Theory, Algorithms, and Implementation ERRATA!!!! 1 , 2007 .

[3]  Diego Borro,et al.  Parallel RRT-based path planning for selective disassembly planning , 2008 .

[4]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[5]  Yong Wang,et al.  A Virtual Assembly Design Environment , 1999, Proceedings IEEE Virtual Reality (Cat. No. 99CB36316).

[6]  Karon E. MacLean,et al.  Predictive haptic guidance: intelligent user assistance for the control of dynamic tasks , 2006, IEEE Transactions on Visualization and Computer Graphics.

[7]  Nancy M. Amato,et al.  Enhancing Randomized Motion Planners: Exploring with Haptic Hints , 2001, Auton. Robots.

[8]  Mark H. Overmars,et al.  Probabilistic path planning , 1998 .

[9]  Yong Wang,et al.  VADE: A Virtual Assembly Design Environment , 1999, IEEE Computer Graphics and Applications.

[10]  Jean-Yves Fourquet,et al.  Interactive path planning for haptic assistance in assembly tasks , 2010, Comput. Graph..

[11]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[12]  F. Kishino,et al.  A parallel algorithm for octree generation from polyhedral shape representation , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[13]  G. Swaminathan.  Robot Motion Planning , 2006 .

[14]  Ronald N. Perry,et al.  Simple and Efficient Traversal Methods for Quadtrees and Octrees , 2002, J. Graphics, GPU, & Game Tools.

[15]  James J. Troy,et al.  Six degree-of-freedom haptic rendering using voxel sampling , 1999, SIGGRAPH.

[16]  Mark H. Overmars,et al.  Using Workspace Information as a Guide to Non-uniform Sampling in Probabilistic Roadmap Planners , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[17]  Mark H. Overmars,et al.  Using Workspace Information as a Guide to Non-uniform Sampling in Probabilistic Roadmap Planners , 2005, Int. J. Robotics Res..

[18]  Shahram Payandeh,et al.  Artificial and natural force constraints in haptic-aided path planning , 2005, IEEE International Workshop on Haptic Audio Visual Environments and their Applications.

[19]  Michel Taïx,et al.  Haptic Assembly and Disassembly Task Assistance using Interactive Path Planning , 2009, 2009 IEEE Virtual Reality Conference.