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Automatische Bestimmung eines kostengünstigen Ausbaupfades für große Module in Schiffen

By Johanna Frank


This thesis addresses a disassembly problem by utilizing methods stemming from the field of motion planning. Its focus lies in the generation of cost-efficient disassembly paths of specific components within environments with discrete cost regions. These regions correspond to obstacles that can be removed from the environment at the expense of additional costs for the disassembly. However, current approaches do not consider the removal of additional components when determining possible disassembly paths. This is the gap this thesis tries to close by extending the motion planning problem by allowing the disassembly of obstacles if a path could not be generated otherwise. Therefore, different strategies are proposed on the basis of RRT methods for the generation of cost-efficient paths. These strategies are primarily designed for a specific disassembly scenario within average to large components in ships. Yet, its generality and composition of a few simple heuristics should also allow an adaptation for other scenarios concerning a holonomic Single-Query planning within environments containing discrete cost regions

Topics: virtual reality (VR), path planning, shipbuilding, disassembly
Year: 2012
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Provided by: Fraunhofer-ePrints
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