Mykhaylo Nykolaichuk, Frank Ortmeier: Coverage Path Re-Planning for Processing Faults. In: Springer, (Hrsg.): The 8th International Conference on Intelligent Robotics and Applications (ICIRA2015) , S. 358-368 , 2015.

Abstract

Currently, an automated surface treatment or finishing (e.g., abrasive blasting, cleaning or painting) is performed in two consecutive steps: first processing by tool, second quality evaluation by sensor. Often, a finished surface has defects like areas not properly processed. This is caused by path inaccuracy or errors in tool deployment. The defected areas can be detected only during a subsequent quality evaluation. As a result, a complete surface reprocessing is required which is costly and time-consuming. We propose a new approach that is a combination of surface treatment and quality evaluation processes in a single deployment. In our approach, an initial coverage path for surface treatment by a tool is given or calculated using a state-of-the-art coverage path planning algorithm. In fact, we extend an off-line generated initial coverage path with an ability to react to sensor-based defect recognitions during surface processing by a tool.

BibTeX (Download)

@inproceedings{Nykolaichuk2015,
title = {Coverage Path Re-Planning for Processing Faults},
author = {Mykhaylo Nykolaichuk and Frank Ortmeier},
editor = {Springer},
url = {https://cse.cs.ovgu.de/cse-wordpress/wp-content/uploads/2015/07/coveragePathReplanning_final.pdf
https://link.springer.com/chapter/10.1007/978-3-319-22876-1_31},
year  = {2015},
date = {2015-08-20},
booktitle = {The 8th International Conference on Intelligent Robotics and Applications (ICIRA2015) },
volume = {9245},
pages = {358-368 },
abstract = {Currently, an automated surface treatment or finishing (e.g., abrasive blasting, cleaning or painting) is performed in two consecutive steps: first processing by tool, second quality evaluation by sensor. Often, a finished surface has defects like areas not properly processed. This is caused by path inaccuracy or errors in tool deployment. The defected areas can be detected only during a subsequent quality evaluation. As a result, a complete surface reprocessing is required which is costly and time-consuming. We propose a new approach that is a combination of surface treatment and quality evaluation processes in a single deployment. In our approach, an initial coverage path for surface treatment by a tool is given or calculated using a state-of-the-art coverage path planning algorithm. In fact, we extend an off-line generated initial coverage path with an ability to react to sensor-based defect recognitions during surface processing by a tool.},
keywords = {coverage path planning, online path planning},
pubstate = {published},
tppubtype = {inproceedings}
}