A Gradient-Based Inspection Path Optimization Approach
Boris Bogaerts, Seppe Sels, Steve Vanlanduit, Rudi Penne · IEEE Robotics and Automation Letters · 2018
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.