A novel path planning algorithm in robotic fibre placement for complex closed surface structures

doi:10.1109/ICMA.2017.8015902

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	A novel path planning algorithm in robotic fibre placement for complex closed surface structures
	Min Jiang1,2,3 ; Wu Baolin1,2,3 ; Ma Liping1,2,3 ; Baolin Wu
	2017-08-23
会议日期	August 6, 2017 - August 9, 2017
会议地点	Takamatsu, Japan
关键词	Robotic Fibre Placement Composites Path Planning Efficiency And Quality
DOI	10.1109/ICMA.2017.8015902
页码	705-710
英文摘要	A novel path planning algorithm based on efficiency and quality evaluation (EQE) in robotic fibre placement (RFP) for complex profile structures is proposed in this paper. The EQE algorithm focus on the concept for the first time that the paths are generated according to the tradeoff between the laying efficiency and quality under the specific process requirement, which will improve the RFP's adaptability to the complicated process environment. Meanwhile, the core of the proposed EQE algorithm is evaluating two different modified paths based on the laying efficiency and quality according to the process requirement during the path angle modification process. Besides, in the EQE, two new path angle modification methods are proposed to generate the modified paths. Thus, the EQE algorithm outperforms the existing path planning algorithms. Finally, some simulation experiments are conducted for a complex closed surface structure. The results verify the effectiveness of the proposed EQE algorithm and also show that it is compared favorably with the existing path planning algorithms.
会议录	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
语种	英语
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/19786]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Baolin Wu
作者单位	1.Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences 2.School of Computer and Control Engineering, University of Chinese Academy of Sciences 3.TianJin Intelligent Tech. Institute of Casia
推荐引用方式 GB/T 7714	Min Jiang,Wu Baolin,Ma Liping,et al. A novel path planning algorithm in robotic fibre placement for complex closed surface structures[C]. 见:. Takamatsu, Japan. August 6, 2017 - August 9, 2017.