A Gradient-Based Inspection Path Optimization Approach

Boris Bogaerts; Seppe Sels; Steve Vanlanduit; Rudi Penne

RA-L 201819 citations

A Gradient-Based Inspection Path Optimization Approach

Boris Bogaerts, Seppe Sels, Steve Vanlanduit, Rudi Penne

Abstract

We develop a new gradient-based optimization strategy for robotic inspection planning. The algorithm starts from an initial measurement path and evolves this path to decrease path length while maintaining sensor coverage. The approach is powerful enough to handle inspection tasks of complex objects under articulated manipulator constraints. We show the effectiveness of the algorithm in two complex inspection tasks.

BibTeX

@inproceedings{ral2018_agradientbasedin,
  title = {A Gradient-Based Inspection Path Optimization Approach},
  author = {Boris Bogaerts and Seppe Sels and Steve Vanlanduit and Rudi Penne},
  booktitle = {RA-L 2018},
  year = {2018}
}