GOALI: Controlled Coverage With Applications to Automated Robot Painting

这项工作考虑了一种称为受控和约束覆盖的混合运动规划/控制问题，即通过规划、传感器观测和长期过程监控来精确调节机构的工作空间效应，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，割草机切割工具的覆盖范围，但汽车行业的油漆应用推动了这一努力。这项工作的两个基本知识重点是了解如何在确保精确控制过程变量的同时完成复盖任务，以及开发复盖路径规划工具，这将使有可能调整需要完全重新规划的过程变量。这些结果将使油漆涂装专家(或参与表面涂层/检测任务的任何人)能够高效地对满足性能限制的轨迹进行编程，同时缩短周期时间并提高效率。原则调查人员将与福特公司内部的研究人员密切合作，包括福特科学研究实验室、其先进制造技术部门和全球涂料工程公司的成员，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.