GOALI: Controlled Coverage With Applications to Automated Robot Painting

这项工作考虑了一个混合运动规划/控制问题，称为受控和约束覆盖-即通过规划，传感器观察和长期过程监测来精确调节机制的工作空间效果，以实现区域覆盖任务的受控执行。典型的工作空间效应包括用于搜索任务的探测器的灵敏度模式，割草机切割工具的范围，但汽车工业中的油漆应用激发了这种努力。这项工作的两个基本智力焦点是理解如何在确保精确控制过程变量的同时完成覆盖任务，以及开发覆盖路径规划工具，这将使调整过程变量成为可能，从而需要完全重新规划。这些结果将使涂料应用专家（或任何参与表面涂层/检查任务的人）能够有效地编程轨迹，满足性能限制，同时减少周期时间，提高效率。主要研究人员将与福特的研究人员密切合作，包括福特科学研究实验室、先进制造技术部门和全球涂料工程的成员，以确保研究的实用性和适用性。

This work considers a hybrid motion planning/control problem termed controlled and constrained coverage -- i.e. the precise regulation of a mechanism's work space effects through planning, sensor observations, and long-term process monitoring to achieve the controlled execution of area-covering tasks. Typical work space effects include the sensitivity pattern of a detector used for search tasks, the reach of a lawn mower's cutting tool, but paint application in the automotive industry motivates this effort. The two basic intellectual foci of this work are understanding how coverage tasks can be accomplished while ensuring the precise control of process variables and the development of coverage path planning tools which will make it possible to adjust process variables necessitating complete replanning. These results will enable paint applicationspecialists (or anyone involved in surface coating/inspection tasks) to efficiently program trajectories that satisfy performance constraints while reducing cycle time, and improving efficiency. The Principle Investigators will be working closely with researchers within Ford, including members of Ford's Scientific Research Labs, their Advanced Manufacturing Technology division, and Global Paint Engineering, to ensure practical utility and applicability of the research.