Open AccessThe method of grid map construction of visual characteristics on rocket tank surface and robot automatic cleaning path planning
Author(s) -
Xiaodong Liu,
Hongze Xu,
Li Wang,
Li Liu,
Rui Wang
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/740/1/012035
Subject(s) - rocket (weapon) , tree traversal , flange , grid reference , grid method multiplication , grid , robot , motion planning , engineering , path (computing) , automation , obstacle , computer science , computer vision , artificial intelligence , marine engineering , mobile robot , aerospace engineering , mechanical engineering , algorithm , mathematics , programming language , geometry , law , political science
According to the actual engineering needs, this paper proposed a method of grid map construction of visual characteristics on rocket tank surface and robot automatic cleaning path planning. Through the image processing algorithm, the flange obstacle features and smudge features of the rocket tank surface are extracted, and the cleaning grid map of the rocket tank surface is constructed with this features. Aiming at the circumferential cleaning requirements of rocket tanks, a global path planning method based on artificial potential field loop traversal is proposed to achieve traversal coverage cleaning of stain points. It is verified by simulation experiments that the path planning method proposed in this paper meets the actual needs and is of great significance for realizing the cleaning automation of rocket storage tanks.