DeepAI AI Chat
Log In Sign Up

Geometry-Aware Coverage Path Planning for Depowdering on Complex 3D Surfaces

by   Van-Thach Do, et al.
Nanyang Technological University

This paper presents a new approach to obtaining nearly complete coverage paths (CP) with low overlapping on 3D general surfaces using mesh models. The CP is obtained by segmenting the mesh model into a given number of clusters using constrained centroidal Voronoi tessellation (CCVT) and finding the shortest path from cluster centroids using the geodesic metric efficiently. We introduce a new cost function to harmoniously achieve uniform areas of the obtained clusters and a restriction on the variation of triangle normals during the construction of CCVTs. The obtained clusters can be used to construct high-quality viewpoints (VP) for visual coverage tasks. Here, we utilize the planned VPs as cleaning configurations to perform residual powder removal in additive manufacturing using manipulator robots. The self-occlusion of VPs and ensuring collision-free robot configurations are addressed by integrating a proposed optimization-based strategy to find a set of candidate rays for each VP into the motion planning phase. CP planning benchmarks and physical experiments are conducted to demonstrate the effectiveness of the proposed approach. We show that our approach can compute the CPs and VPs of various mesh models with a massive number of triangles within a reasonable time.


page 1

page 6

page 7

page 8


CNN Encoder to Reduce the Dimensionality of Data Image for Motion Planning

Many real-world applications need path planning algorithms to solve task...

Mesh Manifold based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles

This paper presents a novel on-line path planning method that enables ae...

Singularity-aware motion planning for multi-axis additive manufacturing

Multi-axis additive manufacturing enables high flexibility of material d...

Learning To Find Shortest Collision-Free Paths From Images

Motion planning is a fundamental problem in robotics and machine percept...

Spiral Complete Coverage Path Planning Based on Conformal Slit Mapping in Multi-connected Domains

Generating a smooth and shorter spiral complete coverage path in a multi...

Robust and efficient tool path generation for poor-quality triangular mesh surface machining

This paper presents a new method to generate iso-scallop tool paths for ...

Optimized Coverage Planning for UV Surface Disinfection

UV radiation has been used as a disinfection strategy to deactivate a wi...