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Proceedings of CAD'15, 2015, 47-52
Moving Sequence Generation Based on Hungarian Method for Pick-and-Place Process
Wei Pan, Singapore University of Technology and Design Lujie Chen, Singapore University of Technology and Design
Abstract. Just like bricks are used in building construction, in rapid prototyping identical components can be aggregated to form 3D objects by a process called pick and place (PAP). Recently, an aerial construction PAP platform was developed, in which unmanned aerial vehicles (UAV) were programmed to carry blocks from an original to a designated position. Over time, the UAVs could build complex structures, such as a curved wall and a tower. The moving sequence was preset in order to avoid aerodynamic interference between the UAVs. In the long term, this new technology would benefit from an efficient PAP algorithm. Recently, designers created fascinating structures by reusing discarded materials such as boxes and cans. In these projects, the PAP process was also pre-determined and was based on the position of material stock and destination structure. The transformation from one structure to another poses an interesting research question in rapid prototyping: how can a system recognize the overlapping regions of two structures and minimize the number of moves in a PAP process. To address the question, we propose an efficient algorithm to generate 3D moving sequence for a PAP process, in which 3D models represented by identical components, such as cubes, bricks and cans, can be constructed and transformed from one to another.
Keywords. Rapid Prototyping, Moving Sequence, Pick-and-Place, Hungarian Method