Sampling-Based Floor Plan Analysis on BIMs

摘要

This contribution explores a novel combination of methods from robotics and BIM by working on Building Information Models (BIMs) with the Open Motion Planning Library (OMPL), an extensible programming interface and reference collection of various algorithms for sampling-based motion planning. We present a seamless workflow from industrial BIM generation to sampling-based planning of collision-free paths for mobile robots on 3D floor plans extracted from BIMs.