An efficient trajectory planning approach for autonomous robots in complex bridge environments
- Publication Type:
- Journal Article
- International Journal of Computer Aided Engineering and Technology, 2009, 1 (2), pp. 185 - 208
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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. © 2009 Inderscience Enterprises Ltd.
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