An efficient trajectory planning approach for autonomous robots in complex bridge environments
by Wing Keung To, Gavin Paul, Ngai Ming Kwok, Dikai Liu
International Journal of Computer Aided Engineering and Technology (IJCAET), Vol. 1, No. 2, 2009

Abstract: This paper presents an efficient trajectory planning approach for a 6DOF robotic manipulator conducting grit-blasting in complex bridge structural environments. The proposed approach extends upon robotic grit-blasting planning and incorporates joint movement minimisation in addition to path length minimisation. A genetic algorithm is implemented to optimise initial path plans based on a heuristic pattern for the coverage of surface areas to be blasted. A customised gradient based method is applied for the generation of collision-free joint configurations for grit-blasting based on the identified path plan. A grit-blasting coverage model is developed for discrete non-planar 3D coverage determination to verify the performance of the plan. Extensive simulation and experimental results are also presented in this paper.

Online publication date: Mon, 26-Jan-2009

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