论文标题
TSP机器人：使用高功能操纵器的机器人TSP笔艺术
TSP-Bot: Robotic TSP Pen Art using High-DoF Manipulators
论文作者
论文摘要
TSP艺术是一种用于使用分段连续线段绘制图像的艺术形式。我们提出了TSP-Bot，这是一种机器人笔绘图系统，能够使用多种颜色在平面表面上创建复杂的TSP笔艺术。系统首先将彩色的光栅图像转换为代表图像音调的一组点，可以通过调整点密度来控制。接下来，系统找到了一个分段连续的线性路径，该路径准确地访问了每个点一次，这等同于解决旅行推销员问题（TSP）。使用有界的近似值，使用有界曲率的Bezier样条曲线平滑和优化的路径可以简化该路径。我们的机器人绘图系统由带有指尖的单个或双重操纵器组成，移动平台通过遵循由成千上万的TSP站点组成的结果复杂而复杂的路径来执行绘图任务。结果，我们的系统可以吸引复杂且视觉上令人愉悦的TSP笔艺术。
TSP art is an art form for drawing an image using piecewise-continuous line segments. We present TSP-Bot, a robotic pen drawing system capable of creating complicated TSP pen art on a planar surface using multiple colors. The system begins by converting a colored raster image into a set of points that represent the image's tone, which can be controlled by adjusting the point density. Next, the system finds a piecewise-continuous linear path that visits each point exactly once, which is equivalent to solving a Traveling Salesman Problem (TSP). The path is simplified with fewer points using bounded approximation and smoothed and optimized using Bezier spline curves with bounded curvature. Our robotic drawing system consisting of single or dual manipulators with fingered grippers and a mobile platform performs the drawing task by following the resulting complex and sophisticated path composed of thousands of TSP sites. As a result, our system can draw complicated and visually pleasing TSP pen art.
