Revista UIS Ingenierías

Vol. 22 No. 3 (2023): Revista UIS Ingenierías
Articles

Geometry-based polylinal routing for motion planning in object sorting

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  • Pedro Alejandro Montaño-Herrera,
  • Juan Pablo Sosa-Esquivel ,
  • Marco Antonio Jinete-Gómez
Pedro Alejandro Montaño-Herrera
Universidad Piloto de Colombia
Juan Pablo Sosa-Esquivel
Universidad Piloto de Colombia
Marco Antonio Jinete-Gómez
Universidad Piloto de Colombia
DOI: https://doi.org/10.18273/revuin.v22n3-2023005

Published 2023-07-11

Keywords

  • robotics,
  • motion planing,
  • simulation,
  • automation,
  • artificial vision,
  • Robodk
    • ...More
    Less

How to Cite

Montaño-Herrera, P. A., Sosa-Esquivel , J. P. ., & Jinete-Gómez, M. A. . (2023). Geometry-based polylinal routing for motion planning in object sorting. Revista UIS Ingenierías, 22(3), 55–68. https://doi.org/10.18273/revuin.v22n3-2023005

Copyright (c) 2023 Revista UIS Ingenierías

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This work is licensed under a Creative Commons Attribution-NoDerivatives 4.0 International License.

Abstract

This paper proposes the geometry-based polylinal routing method as a solution for motion planning in object sorting exercises in manufacturing processes. This algorithm is based on geometric properties that arise from the interaction among objects within the configuration space. The method proposed in this paper, during its experimental phase, successfully generated smooth routes with a processing time ranging from 62.5-125 ms on a computer equipped with an AMD Ryzen 7 2700X Eight-Core 3.70 GHz processor and 16 GB of RAM. When compared to the RRT algorithm, it exhibits a higher efficiency of 38% to 48%, resulting in a reduction in iterative processes and a shorter response time. Therefore, the proposed method presents a viable solution for addressing motion planning scenarios in object sorting exercises.

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