Sustarevas, J;
Kanoulas, D;
Julier, S;
(2021)
Task-Consistent Path Planning for Mobile 3D Printing.
In:
Proceedings of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021).
(pp. pp. 2143-2150).
Institute of Electrical and Electronics Engineers (IEEE)
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Abstract
In this paper, we explore the problem of task-consistent path planning for printing-in-motion via Mobile Manipulators (MM). MM offer a potentially unlimited planar workspace and flexibility for print operations. However, most existing methods have only mobility to relocate an arm which then prints while stationary. In this paper we present a new fully autonomous path planning approach for mobile material deposition. We use a modified version of Rapidly-exploring Random Tree Star (RRT*) algorithm, which is informed by a constrained Inverse Reachability Map (IRM) to ensure task consistency. Collision avoidance and end-effector reachability are respected in our approach. Our method also detects when a print path cannot be completed in a single execution. In this case it will decompose the path into several segments and reposition the base accordingly.
| Type: | Proceedings paper |
|---|---|
| Title: | Task-Consistent Path Planning for Mobile 3D Printing |
| Event: | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| ISBN-13: | 978-1-6654-1714-3 |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://doi.org/10.1109/IROS51168.2021.9635916 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Three-dimensional printing, Path planning, End effectors, Task analysis, Collision avoidance, Intelligent robots |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10133188 |
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