Task-Consistent Path Planning for Mobile 3D Printing
- Resource Type
- Conference
- Authors
- Sustarevas, Julius; Kanoulas, Dimitrios; Julier, Simon
- Source
- 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2021 IEEE/RSJ International Conference on. :2143-2150 Sep, 2021
- Subject
- Robotics and Control Systems
Three-dimensional printing
Path planning
End effectors
Task analysis
Collision avoidance
Intelligent robots
- Language
- ISSN
- 2153-0866
In this paper, we explore the problem of task-consistent path planning for printing-in-motion via Mobile Manipulators (MM). MM offer a potentially unlimited planar workspace and flexibility for print operations. However, most existing methods have only mobility to relocate an arm which then prints while stationary. In this paper we present a new fully autonomous path planning approach for mobile material deposition. We use a modified version of Rapidly-exploring Random Tree Star (RRT*) algorithm, which is informed by a constrained Inverse Reachability Map (IRM) to ensure task consistency. Collision avoidance and end-effector reachability are respected in our approach. Our method also detects when a print path cannot be completed in a single execution. In this case it will decompose the path into several segments and reposition the base accordingly.