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

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.