The Worldwide Journal of Robotics Analysis, Forward of Print.
The technology of smoother and shorter spiral full protection paths in multi-connected domains is an important analysis matter in path planning for robotic cavity machining and different associated fields. Conventional strategies for spiral path planning in multi-connected domains usually incorporate a subregion division process that results in extreme subregion bridging, requiring longer, extra sharply turning, and inconsistently spaced spirals to realize full protection. To deal with this difficulty, this paper proposes a novel spiral full protection path planning technique utilizing conformal slit mapping. It takes benefit of the truth that conformal slit mapping can remodel multi-connected domains into common disks or annuluses with out the necessity for subregion division. Firstly, a slit mapping calculation method is proposed for segmented cubic spline boundaries with corners. Secondly, a spiral path spacing management technique is developed primarily based on the utmost inscribed circle radius between adjoining conformal slit mapping iso-parameters. Thirdly, the spiral protection path is derived by offsetting iso-parameters. Numerical experiments point out that our technique shares a comparable order-of-magnitude in computation time with the normal PDE-based spiral full protection path technique, nevertheless it excels in optimizing whole path size, smoothness, and spacing consistency. Lastly, we carried out experiments on cavity milling and dry runs to match the brand new technique with the normal PDE-based technique by way of machining length and steering influence, respectively. The comparability reveals that, with each algorithms attaining full protection, the brand new algorithm reduces machining time and steering influence by 12.34% and 22.78%, respectively, in contrast with the normal PDE-based technique.
发布者：Changqing Shen，转转请注明出处：https://robotalks.cn/spiral-complete-coverage-path-planning-based-on-conformal-slit-mapping-in-multi-connected-domains/
