A continuous path planning approach on Voronoi diagrams for robotics and manufacturing applications

Date

2019-01-01

Author

Özcan, Melih
Yaman, Ulaş

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

342
views

0
downloads

Coverage of an area is required for a large variety of robotics and manufacturing applications, such as environment monitoring, home cleaning, search and rescue operations, machining, delivery, additive manufacturing and even for 3D terrain reconstruction. In this work, we present highly flexible algorithms that can be used for coverage and graph traversal. Although our methods take advantage of variable-sized Voronoi cells, by which regular, irregular and complex geometries can be easily composed, it is not limited to Voronoi diagrams and can be applied for any connected graph. After the construction of the Voronoi diagram, an Eulerian graph is generated. Then, three algorithms are elaborated for the traversal of it. Two of those algorithms traverse the graph continuously, leading to Eulerian cycles. On the other hand, one algorithm requires switching positions from time to time, which we call fast travel. Additionally, we describe the phenomenon of traversing the same edge twice in a row, i.e., u turn, and draw a conclusion to emphasize the importance of this specific problem.

Subject Keywords

Robotics , Additive Manufacturing , Coverage Algorithms , Continuous Paths

URI

https://hdl.handle.net/11511/48318

DOI

https://doi.org/10.1016/j.promfg.2020.01.001

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

A continuous path planning and updating algorithm based on Voronoi diagrams Özcan, Melih; Yaman, Ulaş; Department of Mechanical Engineering (2020-8) Coverage of an area is required for a large variety of robotics and manufacturing applications, such as environment monitoring, home cleaning, search and rescue operations, machining, delivery, additive manufacturing and even for 3D terrain reconstruction. In this work, we present a highly flexible algorithm that can be used for coverage and graph traversal. In addition to being applicable to diverse types of engineering problems, proposed method is advantageous to other algorithms, as it never turns around...
Development of a web-based manufacturing application system for rotational parts Özsüer, Erhan; Anlağan, Ömer; Department of Mechanical Engineering (2003) Developing process plans and part programs rapidly and correctly for CNC machine tools plays a vital role in manufacturing. This study is concerned with the development of a web-enabled virtual design and manufacturing application system for rotational parts. The object oriented methodology is used in the application development. Windows Distributed interNet Application (DNA) architecture which describes a framework of building software technologies in an integrated web and client-server model of computing,...
A New Hardware-in-the-Loop Simulator for CNC Machine Applications USENMEZ, S.; MUTLU, B. R.; Yaman, Ulaş; KILIÇ, ERGİN; Dölen, Melik; Koku, Ahmet Buğra (2013-03-01) This study focuses on an integrated software and hardware platform that is capable of performing (real-time/nonreal- time) hardware-in-the-loop simulation of dynamic systems, including electrical machinery, CNC machine tools. In this approach, once the dynamics of the plant to be controlled is defined via C++ language, the resulting code is cross-compiled automatically on a PC. Executable files along with the necessary drivers are downloaded onto the composite hardware platform that consists of a Field Prog...
A New production methodology for vacuum infusion process of advanced composite structures Poorzeinolabedin, Mohsen; Parnas, Kemal Levend; Department of Mechanical Engineering (2017) Vacuum Infusion Process (VIP) is one of the Liquid Composite Molding (LCM) methods which are widely used in out-of-autoclave processes especially for the manufacturing of large scale composite parts in aerospace, automotive, wind energy and marine industries. In order to simulate the infusion process, the permeability of preforms is an essential parameter. Absence of any standard is a challenge for the determination of in-plane permeabilities of a preform. The first objective of this study is to develop an ...
A study on energy trapping parameters of a multistable elastic beam Zembilören, Ahmet; Gürses, Ercan; Department of Aerospace Engineering (2018) Energy absorbing systems are being widely used in personnel protection, packaging of special products, aircraft and land vehicles and in many other industries as impact absorbers. Conventional energy absorbing systems absorb impact energy usually by undergoing plastic deformation and thus cannot be reused. A multistable elastic tilted beam can lock in (trap) strain energy when exposed to an impact and can fully recover after unloading. This fully reversible cycle allows repetitive usage of the system for ma...

Citation Formats

M. Özcan and U. Yaman, “A continuous path planning approach on Voronoi diagrams for robotics and manufacturing applications,” 2019, vol. 38, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/48318.