Speaker
Description
As part of our efforts in the field of autonomous instrument control, we present a motion planning algorithm for triple-axis spectrometers and its open-source implementation. Due to angular constraints and walls in the instrument space, not every (Q, E) coordinate point is accessible to the spectrometer. A careful mapping of the available positions is usually required before each experiment to avoid any collisions. The present algorithm is able to automatically find the best safe path for the instrument, keeping it at the furthest possible distance from obstacles. It does so by calculating the Voronoi bisectors of the instrument's angular configuration space. Of these it creates a map of possible paths and finds the shortest path along the bisectors.
- Paper DOI: 10.1016/j.softx.2023.101455
- Code: https://github.com/ILLGrenoble/taspaths
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