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P. Gsellmann, M. Melik-Merkumians, M. Hurban, G. Schitter:
"Heuristic Path Planning Approach for a Granular-fill Insulation Distributing Robot";
Talk: 21st IFAC World Congress, Berlin; 07-12-2020 - 07-17-2020; in: "Proceedings of the 21st IFAC World Congress", (2020), 6 pages.

In this paper, a heuristic path planning approach for the robotic distribution of granular-fill insulation material is presented. The initial coarse manual distribution of the material leads to an uneven surface with areas of excessive or insufficient material. In order to distribute the granular-fill insulation uniformly with a robot, first the worked area is captured as point cloud with an RGB-D camera, and afterwards these irregularities are located via agglomerative hierarchical clustering. Subsequently, their volumes are estimated providing weights for the path calculation. A path planning method, inspired by the usual working method of human construction workers, is developed and applied. In a test scenario, the total path length and the processing sequence are analysed, varying the blade size and the weight of the distance-to- goal parameter. This analysis yields, that the presented path planning algorithm is well suited for the described application, showing the best results with a larger blade size and a quadratic distance-to-goal behavior.

Path planning, Heuristics, Robotic manipulators, Vision, Search methods, RGB-D cameras

https://publik.tuwien.ac.at/files/publik_288445.pdf