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|Title:||Robot programming using augmented reality: An interactive method for planning collision-free paths|
Beam search algorithm
|Citation:||Chong, J.W.S., Ong, S.K., Nee, A.Y.C., Youcef-Youmi, K. (2009-06). Robot programming using augmented reality: An interactive method for planning collision-free paths. Robotics and Computer-Integrated Manufacturing 25 (3) : 689-701. ScholarBank@NUS Repository. https://doi.org/10.1016/j.rcim.2008.05.002|
|Abstract:||Current robot programming approaches lack the intuitiveness required for quick and simple applications. As new robotic applications are being identified, there is a greater need to be able to programme robots safely and quickly. This paper discusses the use of an augmented reality (AR) environment for facilitating intuitive robot programming, and presents a novel methodology for planning collision-free paths for an n-d.o.f. (degree-of-freedom) manipulator in a 3D AR environment. The methodology is interactive because the human is involved in defining the free space or collision-free volume (CFV), and selecting the start and goal configurations. The methodology uses a heuristic beam search algorithm to generate the paths. A number of possible scenarios are discussed. © 2008 Elsevier Ltd. All rights reserved.|
|Source Title:||Robotics and Computer-Integrated Manufacturing|
|Appears in Collections:||Staff Publications|
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