Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve

Prasad Atkar, Howie Choset, and Alfred Rizzi
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003, pp. 3581 - 3587.


Download
  • Adobe portable document format (pdf) (563KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
For automated spray painting robots, the choice of a start curve from which all subsequent paths will be determined, plays a critical role in ensuring uniform coverage of the target surface. In this paper, we ultimately propose a method to determine the start curve for two different procedures of coverage path construction. For the first procedure, we average the target surface normal to optimize the average error between desired and resultant deposition with the added goal of minimizing cycle time. For the second technique, we make recourse to the Gauss-Bonnet theorem to minimize the non-uniformity of paint deposition and cycle time for the entire coverage path.

Notes
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory and Biorobotics
Associated Project(s): Controlled Coverage for Auto-Body Painting
Number of pages: 7

Text Reference
Prasad Atkar, Howie Choset, and Alfred Rizzi, "Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve," 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), October, 2003, pp. 3581 - 3587.

BibTeX Reference
@inproceedings{Atkar_2003_4699,
   author = "Prasad Atkar and Howie Choset and Alfred Rizzi",
   title = "Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve",
   booktitle = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03)",
   pages = "3581 - 3587",
   month = "October",
   year = "2003",
   volume = "4",
}