A real-time A* algorithm for trajectories generation and collision avoidance in uncertain environments for assembly applications

In assembly processes, generating paths and avoiding collisions are crucial for efficiency and safety. This paper presents a novel approach that integrates the A* pathfinding (PF) algorithm into FreeCAD, an open-source Computer-Aided Design (CAD) platform. The main contribution of this work is enabling PF and collision detection directly within the CAD environment during the design phase, helping detect potential collisions early and improving the design process. The A* algorithm has been adapted to handle both static and dynamic obstacles inside FreeCAD. This integration allows for better planning of paths in complex assembly environments. The integration process, algorithm modifications and system functionality are described in detail. A case study simulating an assembly line demonstrates the algorithm's effectiveness in generating collision-free trajectories while adapting to dynamic changes in the environment. This work paves the way for further advancements in AIdriven CAD systems for industrial applications, enabling more intelligent and adaptive assembly processes during the design phase.