Planification globale de trajectoires en milieux industriels : application à la maintenance et au démantèlement de centrales nucléaires

TL;DRAbstract

The problem of motion planning has been addressed for several decades in robotics. Pre-computed probabilistic roadmaps have been recognized as an efficient method to generate rapid collision free motions between any pair of initial and final configurations of the robot. Inside EDF R&D and the European MoLog project, we contribute to adapt and integrate these methods in the context of the maintenance and the dismantling of nuclear power plants. Such applications require the motion of objects, deviees or even robots within cluttered environments. Furthermore, we propose a way to enrich the pre-computed roadmaps so that they can generate ali the non homotopie paths for any pair of configurations. Hence any further geometrical, kinematical or dynamical constraints specified after the Roadmap pre-computation, can be applied on a single homotopy class which is selected by the user. This leads to a gain of time and interactivity between engineers and motion planning tools.

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