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首页> 外文会议>International Conference on Mechanical Engineering and Mechanics vol.2; 20051026-28; Nanjing(CN) >Spiral Path Planning for 2D Regions
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Spiral Path Planning for 2D Regions

机译：二维区域的螺旋路径规划

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摘要

In robot planning problems, the complete coverage path planning refers to the problem of determining a path that a robot must take in order to pass over each point in an environment and avoid obstacles. Applications include de-mining, sweeping, cleaning, vacuuming, inspection robots. For this kind of problem, not only the complete coverage should be performed, but an efficient path is highly desired. Usually, a robot can move much faster if there is no sharp turns. Thus, finding a path that has the least number of sharp turns is preferred. This type of path is also desirable in milling operations, especially in high speed milling operations. Spiral curve is a special curve which can have no sharp turn, and the stepover between adjacent segments can also be controlled to a predefined value. However, traditional approaches to finding such a path either work for very simple convex regions, or, for irregular shapes, many overlap linkage paths have to be used. Thus, although spiral curves are promising, there is still not a good algorithm in generating a path which 1) covers the entire region, 2) has least number of turns, 3) uses an controllable stepover value. In this paper, we will introduce a novel approach which covers a 2D region in a very efficient manner. In particular, 1) it covers the 2D region using a set of modified spiral curves based on the geometry of the 2D region, 2) these curves are linked in a proper manner, 3) step-over values can be predefined and maintained. This proposed spiral path planning algorithm can be used in controlling robot movements as well as in generating efficient milling cutter paths in which the cutter engagement value is controlled within a predefined value.
机译：在机器人规划问题中，完整的覆盖路径规划是指确定机器人为了通过环境中的每个点并避开障碍物必须采取的路径的问题。应用包括排雷，清扫，清洁，吸尘，检查机器人。对于这种问题，不仅应该执行完整的覆盖，而且非常需要有效的路径。通常，如果没有急转弯，机器人可以更快地移动。因此，优选的是找到急转弯次数最少的路径。在铣削操作中，尤其是在高速铣削操作中，这种类型的路径也是理想的。螺旋曲线是一种特殊的曲线，不能有急转弯，相邻段之间的步进也可以控制为预定值。但是，找到这种路径的传统方法要么适用于非常简单的凸形区域，要么适用于不规则形状，因此必须使用许多重叠的链接路径。因此，尽管螺旋曲线很有希望，但是在生成路径时仍然没有一个好的算法，该路径是：1）覆盖整个区域； 2）匝数最少； 3）使用可控的步进值。在本文中，我们将介绍一种新颖的方法，该方法可以非常有效地覆盖2D区域。特别是，1）它使用一组基于2D区域几何形状的修改后的螺旋曲线来覆盖2D区域，2）这些曲线以适当的方式链接，3）可以预定义和维护步进值。所提出的螺旋路径规划算法可用于控制机器人的运动以及生成有效的铣刀路径，在该路径中将刀具啮合值控制在预定值内。

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