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#Actualslicer4ever

Posted 07 September 2012 - 06:11 PM

Thank you Jefferytitan and slicer4ever,

Well, the robot is hanging from the ceiling and moves along a rail. The two arms are operating down on floor level and shall do things like go under a table without touching it.

The question is how to for example move the arms from above the table to under the table without colliding with the table and without the two arms colliding. The arms are never allowed to touch anything in the room. 1 motor is used for moving the robot along the rails and 1 motor is used to turn the main body of the robot. 7 motors in one arm and 6 motors in the other arm.

So I have two problems.
1. Is the pathfinding.
2. How to follow the path with the use of the motors in the arms and the main body.

Thanks again, I will look in to D* and RVO/VO and see if it is an solution I can use.


So, the arms essentially extend downward, and then can extend in any other direction(if i understand correctly?)

generating a heavily subdivided voxel map might be more useful in this situations, where a voxel is either passable or not passable. if the sensor's can decompose the environment into a 3D Scene, and from their, you generate the voxel world. with the voxel world, you can then do A* combined with clerance based pathfinding

I think the result would be pretty decent for your needs, and precision would be dependent on how large a single voxel is.

I'm doubtful you'd need to go full NN's to solve this.

RVO's/VO's are probably not as useful in this situation, i'd recommend a look over, but i had thought the entire robot was tasked with reaching a destination, not just the arms(it can still be used, but it'd be much more difficult imo.)

#2slicer4ever

Posted 07 September 2012 - 06:09 PM

Thank you Jefferytitan and slicer4ever,

Well, the robot is hanging from the ceiling and moves along a rail. The two arms are operating down on floor level and shall do things like go under a table without touching it.

The question is how to for example move the arms from above the table to under the table without colliding with the table and without the two arms colliding. The arms are never allowed to touch anything in the room. 1 motor is used for moving the robot along the rails and 1 motor is used to turn the main body of the robot. 7 motors in one arm and 6 motors in the other arm.

So I have two problems.
1. Is the pathfinding.
2. How to follow the path with the use of the motors in the arms and the main body.

Thanks again, I will look in to D* and RVO/VO and see if it is an solution I can use.


So, the arms essentially extend downward, and then can extend in any other direction(if i understand correctly?)

generating a heavily subdivided voxel map might be more useful in this situations, where a voxel is either passable or not passable. if the sensor's can decompose the environment into a 3D Scene, and from their, you generate the voxel world. with the voxel world, you can then do A* combined with clerance based pathfinding

I think the result would be pretty decent for your needs, and precision would be dependent on how large a single voxel is.

I'm doubtful you'd need to go full NN's to solve this.

#1slicer4ever

Posted 07 September 2012 - 06:09 PM

Thank you Jefferytitan and slicer4ever,

Well, the robot is hanging from the ceiling and moves along a rail. The two arms are operating down on floor level and shall do things like go under a table without touching it.

The question is how to for example move the arms from above the table to under the table without colliding with the table and without the two arms colliding. The arms are never allowed to touch anything in the room. 1 motor is used for moving the robot along the rails and 1 motor is used to turn the main body of the robot. 7 motors in one arm and 6 motors in the other arm.

So I have two problems.
1. Is the pathfinding.
2. How to follow the path with the use of the motors in the arms and the main body.

Thanks again, I will look in to D* and RVO/VO and see if it is an solution I can use.


So, the arms essentially extend downward, and then can extend in any other direction(if i understand correctly?)

generating a heavily subdivided voxel map might be more useful in this situations, where a voxel is simply not passable if the sensor's can decompose the environment into a 3D Scene, and from their, you generate the voxel world. with the voxel world, you can then do A* combined with clerance based pathfinding

I think the result would be pretty decent for your needs, and precision would be dependent on how large a single voxel is.

I'm doubtful you'd need to go full NN's to solve this.

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