个人信息Personal Information
教授
博士生导师
硕士生导师
主要任职:软件学院(大连理工大学-立命馆大学国际信息与软件学院)党委书记
性别:女
毕业院校:吉林大学
学位:博士
所在单位:软件学院、国际信息与软件学院
学科:软件工程. 计算数学. 计算机应用技术
办公地点:大连理工大学开发区校区信息楼309室
联系方式:nalei@dlut.edu.cn
电子邮箱:nalei@dlut.edu.cn
Robot Coverage Path planning for general surfaces using quadratic differentials
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论文类型:会议论文
发表时间:2017-05-29
收录刊物:EI
卷号:0
页面范围:5005-5011
摘要:Robot Coverage Path planning (i.e., the process of providing full coverage of a given domain by one or multiple robots) is a classical problem in the field of robotics and motion planning. The goal of such planning is to provide nearly full coverage while also minimize duplicately visited area. In this paper, we focus on the scenario of path planning on general surface, including planar domains with complex topology, complex terrain, and general surface in 3D space. Our approach described in this paper adopts a natural, intrinsic and global parametrization of the surface for robot path planning, namely the holomorphic quadratic differentials. We give each point on the surface a uv-coordinates naturally represented by a complex number, except for a small number of zero points (singularities). We show that natural, efficient robot paths can be obtained by using such coordinate systems. The method is based on intrinsic geometry and thus can be adapted to general surface exploration in 3D. © 2017 IEEE.