Automated Offline Programing (AOLP) is a cost
effective robot programming method. However, it relies on
accurate CAD information of the work environment to perform
optimally. Incorrect CAD data is a known source of error for
AOLP systems. This paper introduces a new sensor based
method of programming that extends the concept of AOLP.
Using a ToF camera to map the environment, there is no
reliance on CAD data. The problem of motion planning to
efficiently map the environment is examined and changes to the
motion planning algorithm are proposed and tested.