Mobility Analysis for Feasibility Studies in CAD Models of Industrial Environments
Résumé
This paper presents a variant of a probabilist approach to motion planning. The objective is to face large, complex industrial environments for maintenance purpose. The contribution is based on a structuring of the workspace into boxes that limits the size of the graph to be searched. The algorithm was integrated in a commercial CAD system and real-size experiments are presented.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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