A planning of Sweeping Path for a Smearing Robot

자동 미장 로봇을 스위핑 경로 계획

  • 현웅근 (호남대학교 전자공학과) ;
  • 박상규 (여수대학교 자동차공학부 기계공학 전공)
  • Published : 2001.01.01


This paper presents a sweeping path planning algorithm for an autonomous smearing robot. An automatic planner generates a sweeping path pattern by proposed five basic procedures. This algorithm rocog-nizes obstacle on the architectural CAD draft and generates subgoals as tracking points which executes the area filling task based on heuristic approach. A sweeping path is planned by sequentially connecting the track-ing points in such a way that(1) the connected line segments should not be crossed, (2) the total tracking points should be as short as possible, and (3) the tracking line should not pass through the obstacle, Feasibility of the developed techniques has been demonstrated on a real architectural CAD draft.


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