Light Intensity Optimization in Trajectory Planning of Inspection Robot

Abstract

In order to guarantee high-quality original images and achieve automatic control of lighting intensity in the motion of inspection robot following the planned trajectory, this paper proposes a time and light intensity optimal trajectory planning method that not only considering kinematics constraints traditionally, but also take task demands of vision inspection into consideration. We study the influence of light intensity on image quality, and put forward image quality assessment metrics related to light intensity, model the mathematical relationship among light intensity, image quality assessment metrics and camera observation distance. And then optimization model based that mathematical model for time and light intensity optimal trajectory planning is presented. Experiments demonstrate the feasibility and efficiency of this method.