0000000000114771
AUTHOR
Sebastian Dorn
Voxel-based General Voronoi Diagram for Complex Data with Application on Motion Planning
One major challenge in Assembly Sequence Planning (ASP) for complex real-world CAD-scenarios is to find appropriate disassembly paths for all assembled parts. Such a path places demands on its length and clearance. In the past, it became apparent that planning the disassembly path based on the (approximate) General Voronoi Diagram (GVD) is a good approach to achieve these requirements. But for complex real-world data, every known solution for computing the GVD is either too slow or very memory consuming, even if only approximating the GVD.We present a new approach for computing the approximate GVD and demonstrate its practicability using a representative vehicle data set. We can calculate a…
Expansive Voronoi Tree: A Motion Planner for Assembly Sequence Planning
One major challenge in Assembly Sequence Planning (ASP) for complex real-world CAD-scenarios is to find an appropriate disassembly path for each assembled part. Complex real-world scenes are characterized by a large installation space. There each part has many different possible disassembly paths that differ in length and clearance. However, due to tight packing in the installation space, these paths can contain narrow passages. Therefore a motion planner is needed that is able to globally search for a reasonable path and to locally overcome narrow passages. Moreover, since motion planning requests are executed in the ASP context over and over again for many parts, both for those that can b…