학술논문
Geometry-Aware Coverage Path Planning for Depowdering on Complex 3D Surfaces
Document Type
Periodical
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 8(9):5552-5559 Sep, 2023
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
This letter 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.