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Authors: Silya Achat ; Julien Marzat and Julien Moras

Affiliation: DTIS, ONERA, Université Paris Saclay, F-91123 Palaiseau, France

Keyword(s): Coverage Path Planning, Cell Decomposition, Curved Surface Inspection, Sensor Constrained Inspection.

Abstract: This paper presents a path planning method for a climbing robot used for the exterior inspection of an aircraft. The objective is to plan a covering path with the least possible overlap, while respecting constraints related to an embedded sensor, a power cable, and the robot mechanical efforts. To achieve this, a semantic 2D grid model of the aircraft is first created by unfolding and labeling a 3D mesh reference model. An obstacle-based area decomposition method is then applied to divide this 2D discrete space into inspection areas. Inspection segments that satisfy the sensor constraints are then sampled and rearranged based on the order of the areas. The connections between the inspection segments are finally determined by a weighted A ∗ search approach, so as to limit the gravity-induced mechanical efforts on the robot.

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Paper citation in several formats:
Achat, S. ; Marzat, J. and Moras, J. (2023). Curved Surface Inspection by a Climbing Robot: Path Planning Approach for Aircraft Applications. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5; ISSN 2184-2809, SciTePress, pages 433-443. DOI: 10.5220/0012185300003543

@conference{icinco23,
author={Silya Achat and Julien Marzat and Julien Moras},
title={Curved Surface Inspection by a Climbing Robot: Path Planning Approach for Aircraft Applications},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={433-443},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012185300003543},
isbn={978-989-758-670-5},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Curved Surface Inspection by a Climbing Robot: Path Planning Approach for Aircraft Applications
SN - 978-989-758-670-5
IS - 2184-2809
AU - Achat, S.
AU - Marzat, J.
AU - Moras, J.
PY - 2023
SP - 433
EP - 443
DO - 10.5220/0012185300003543
PB - SciTePress

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