A hierarchic approach for path planning in virtual reality.

Simon Cailhol (1) , Philippe Fillatreau (1) , Yingshen Zhao (1) , Jean-Yves Fourquet (1)

1 LGP - Laboratoire Génie de Production

This work considers path-planning processes for manipu- lation tasks such as assembly, maintenance or disassem- bly in a virtual reality (VR) context. The approach con- sists in providing a collaborative system associating a user immersed in VR and an automatic path planning process. It is based on semantic, topological and geometric representations of the environment and the planning process is split in two phases: coarse and fine planning. The automatic planner suggests a path to the user and guides him trough a haptic device. The user can escape from the proposed solution if he wants to explore a possible better way. In this case, the interactive system detects the users intention and computes in real-time a new path starting from the users guess. Experiments illustrate the different aspects of the approach: multi-representation of the en- vironment, path planning process, users intent prediction and control sharing.

Mots clés: Path planning; Virtual Reality; Interactive simulation; Multi-layer architecture

Domaines: Ingénierie assistée par ordinateur; Mécanique [physics.med-ph]; Electronique

Simon Cailhol, Philippe Fillatreau, Yingshen Zhao, Jean-Yves Fourquet. A hierarchic approach for path planning in virtual reality.. International Journal on Interactive Design and Manufacturing, 2015, 9, pp.0. ⟨10.1007/s12008-015-0272-5⟩. ⟨hal-03522636⟩