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Octree-based, multiresolution environment mapping for efficient calculation of collision-free paths for industrial robots

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Abstract

For the automatic calculation of collision-free robot paths, an environment model is required for collision avoidance. The accuracy requirements for the environment model depend very much on the specific task of the robot. The computation time of the collision calculation increases strongly with higher resolution and dimensions of the environment model. For this reason, the demand for high accuracy and fast calculation of the collision-free path is contradictory. To solve this contradiction, we propose a method based on the multi-resolution property of octree based maps. Using a subdivision of the workspace into different subareas and a set of poses to be connected by path planning, a multi-resolution map is created. The individual resolution levels depend on the accuracy requirements of the subareas which are defined by the process requirements. The presented method is evaluated using the ”KaBa” path planning framework. For the evaluation, point clouds scanned with a line laser are tested in two path planning scenarios.

Keywords

  • path planning
  • multi-resolution map
  • octomap
  • industrial robot
  • collision avoidance

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Correspondence to Benjamin Kaiser .

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Kaiser, B., Breidohr, V., Verl, A. (2020). Octree-based, multiresolution environment mapping for efficient calculation of collision-free paths for industrial robots. In: Schüppstuhl, T., Tracht, K., Henrich, D. (eds) Annals of Scientific Society for Assembly, Handling and Industrial Robotics. Springer Vieweg, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-61755-7_6

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