Optimized Grid Voxelization for Obstacle Avoidance in Collaborative Robotics
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F25%3A10257520" target="_blank" >RIV/61989100:27230/25:10257520 - isvavai.cz</a>
Result on the web
<a href="http://doi.org/10.1109/ACCESS.2025.3549622" target="_blank" >http://doi.org/10.1109/ACCESS.2025.3549622</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ACCESS.2025.3549622" target="_blank" >10.1109/ACCESS.2025.3549622</a>
Alternative languages
Result language
angličtina
Original language name
Optimized Grid Voxelization for Obstacle Avoidance in Collaborative Robotics
Original language description
Voxelization into a fixed voxel grid is used for simplicity of processing and data format for applications such as dynamic re-planing of a collaborative robot path around a dynamic obstacle. In this case, it may be undesirable that conventional voxelization methods generate more volume, which results in a longer generated path than needed if the real shape of the obstacle was used instead of voxels. The approach proposed in this paper utilizes triangular normals of the mesh formed by neighboring points in a depth image to adjust the occupancy of a fixed voxel grid, ensuring the voxels more accurately represent the true volume of the scanned object. An experiment with real hardware was performed to compare the proposed voxelization method with the conventional fixed grid voxelization method. The collected point clouds are voxelized using both methods, and the resulting voxel maps are then passed to a simple path solver to find the length of the robot path around the obstacle. The results indicate that our proposed method achieves better results in terms of shorter avoidance paths, as our method provides a tighter representation of the obstacle. The average increase in the length of the alternative avoidance path compared to the theoretical shortest path around the object was 15.7 % for the conventional method and 8.6 % for the presented method. Overall, the experimental results indicate the usefulness of the developed system, as it can shorten the robot cycle time when avoiding obstacles.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
<a href="/en/project/EH22_008%2F0004631" target="_blank" >EH22_008/0004631: Materials and technologies for sustainable development</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Access
ISSN
2169-3536
e-ISSN
2169-3536
Volume of the periodical
13
Issue of the periodical within the volume
10 March 2025
Country of publishing house
US - UNITED STATES
Number of pages
11
Pages from-to
45187-45197
UT code for WoS article
001447531700010
EID of the result in the Scopus database
2-s2.0-86000658474