Multi-level Environment Representation And Path Planning In Virtual Reality

In recent years, in order to support complex industrial manufacturing process,robotic model in Virtual Reality is used to support product design and industriallfow verification process. In virtual assembly, disassembly or manufacturing model，interactive path planning can help users to better achieve tasks when considering’users edition. However, previous interactive path planning in laboratory only dealswith geometry rather than semantic information. Therefore，this thesis mainly talksabout building an interactive path planning based on multi-level environment.This thesis discusses how to build up this multi-level interactive path planningin order to verify semantic information handling process. This system properlyconcludes interactive path planning from LADEREZE，and it builds a moresimplified, more suitable interactive path planning simulation for handling semanticinformation. At the same time, system also brings up an environment descriptionindependent from3D software to ensure system’s extensibility. To deal with thisissue, we brought up three main contributions to achieve this objective:?First, a structured environment representation distinguishes environmentinformation with geometric, topological, and semantic layers.?Then，a structure of interactive path planners dealing with themulti-layer environment representation provides possibilities to handleenvironment information separately.?Finally, interface between individual and3D software environmentallows interactive path planning working as module in the3D softwareenvironment.This multi-layer interactive path planning verifies the completeness andcorrectness in semantic path planning based on Simon CAILHOL’s research work.It also builds up collaboration between industrial manufacturing path-planningprocess and semantic information analysis, which extends previous interactive pathplanning and provides tasks validation for industry (assembling, disassembling…,),This work continues to be used in future LGP work and interactive industrialassistance.