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

Keung To, W; Paul, G; Ming Kwok, N; Liu, D

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

Keung To, W Paul, G

Ming Kwok, N Liu, D

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Publication Type:: Journal Article
Citation:: International Journal of Computer Aided Engineering and Technology, 2009, 1 (2), pp. 185 - 208
Issue Date:: 2009-01-01

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Field	Value	Language
dc.contributor.author	Keung To, W	en_US
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.author	Ming Kwok, N	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.issued	2009-01-01	en_US
dc.identifier.citation	International Journal of Computer Aided Engineering and Technology, 2009, 1 (2), pp. 185 - 208	en_US
dc.identifier.issn	1757-2657	en_US
dc.identifier.uri	http://hdl.handle.net/10453/9096
dc.description.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. © 2009 Inderscience Enterprises Ltd.	en_US
dc.relation.ispartof	International Journal of Computer Aided Engineering and Technology	en_US
dc.relation.isbasedon	10.1504/IJCAET.2009.022786	en_US
dc.title	An efficient trajectory planning approach for autonomous robots in complex bridge environments	en_US
dc.type	Journal Article
utslib.citation.volume	2	en_US
utslib.citation.volume	1	en_US
utslib.for	0915 Interdisciplinary Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.issue	2	en_US
pubs.publication-status	Published	en_US
pubs.volume	1	en_US

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. © 2009 Inderscience Enterprises Ltd.

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http://hdl.handle.net/10453/9096