TY - GEN
T1 - Acceleration of the Development for Motion Planning Algorithms Using V-REP
AU - Li, Xingchen
AU - Chen, Wenlin
AU - Zhang, Wei
AU - Gao, Xifeng
AU - Hao, Lina
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - Motion planning for automation equipment has been used in many areas, including assembly lines in the automated factory, indoor cleaning, and automatic driving. Motion planning algorithms can be developed and validated via V-REP (Virtual Robot Experimentation Platform), a freely available and powerful simulation experiment platform, before being applied to actual devices. This paper describes the implementation details about the applications of V-REP functionalities to accelerate the development of motion planning algorithms, ranging from control mechanisms to environment modeling to calculation modules. In addition, a framework based on the remote API client control mode for motion planning is presented to suit for different algorithms. Finally, two scenarios are constructed to demonstrate the convenience and flexibility of the platform. All of our work provide a documented guideline for users who attempt to take advantage of the platform for developing motion planning algorithms.
AB - Motion planning for automation equipment has been used in many areas, including assembly lines in the automated factory, indoor cleaning, and automatic driving. Motion planning algorithms can be developed and validated via V-REP (Virtual Robot Experimentation Platform), a freely available and powerful simulation experiment platform, before being applied to actual devices. This paper describes the implementation details about the applications of V-REP functionalities to accelerate the development of motion planning algorithms, ranging from control mechanisms to environment modeling to calculation modules. In addition, a framework based on the remote API client control mode for motion planning is presented to suit for different algorithms. Finally, two scenarios are constructed to demonstrate the convenience and flexibility of the platform. All of our work provide a documented guideline for users who attempt to take advantage of the platform for developing motion planning algorithms.
UR - https://www.scopus.com/pages/publications/85077817059
U2 - 10.1109/WRC-SARA.2019.8931909
DO - 10.1109/WRC-SARA.2019.8931909
M3 - 会议稿件
AN - SCOPUS:85077817059
T3 - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
SP - 7
EP - 12
BT - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2019
Y2 - 21 August 2019
ER -