Title: An efficient trajectory planning approach for autonomous robots in complex bridge environments

Authors: Wing Keung To, Gavin Paul, Ngai Ming Kwok, Dikai Liu

Addresses: ARC Centre of Excellence for Autonomous Systems (CAS), University of Technology, Sydney NSW 2007, Australia. ' ARC Centre of Excellence for Autonomous Systems (CAS), University of Technology, Sydney NSW 2007, Australia. ' ARC Centre of Excellence for Autonomous Systems (CAS), University of Technology, Sydney NSW 2007, Australia. ' ARC Centre of Excellence for Autonomous Systems (CAS), University of Technology, Sydney NSW 2007, Australia

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.

Keywords: robotic grit blasting; grit blasting coverage; manipulator path planning; robot motion planning; genetic algorithms; GAs; trajectory planning; autonomous robots; complex bridge environments.

DOI: 10.1504/IJCAET.2009.022786

International Journal of Computer Aided Engineering and Technology, 2009 Vol.1 No.2, pp.185 - 208

Published online: 26 Jan 2009 *

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