Multiple-goals path planning for coordinate measuring machines
作者： S.N. Spitz , A.A.G. Requicha
DOI: 10.1109/ROBOT.2000.846373
关键词:
摘要: Path planning is a crucial step in automatic programming of coordinate measuring machines(CMMs). The goal to generate an efficient and collision-free path for the CMM inspect collection points. Previous research concentrates on between two points, or sequencing points without regard obstacles collisions. In this paper we propose practical planner that considers both collision avoidance. main idea create roadmap free-space, where measurement are nodes network. Once all single connected component roadmap, then tour found by solving appropriate traveling salesperson problem. heuristics used construct robust manner. has been implemented tested real-world mechanical parts.
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