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Title
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A gradient-based inspection path optimization approach
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Author
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Abstract
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| 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. |
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Language
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English
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Source (journal)
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IEEE robotics and automation letters. - Piscataway, NJ
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Publication
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Piscataway, NJ
:
Institute of Electrical and Electronics Engineers
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2018
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ISSN
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2377-3766
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DOI
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10.1109/LRA.2018.2827161
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Volume/pages
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3
:3
(2018)
, p. 2646-2653
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ISI
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000431438800002
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Full text (Publisher's DOI)
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