Wall-climbing Robot Path Planning for Testing Cylindrical Oilcan Weld Based on Voronoi Diagram

Author

Fu, Zhuang ; Zhao, Yan-zheng ; Qian, Zhi-yuan ; Cao, Qi-xin

Author_Institution

Sch. of Mech. Eng., Shanghai Jiao Tong Univ.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2749

Lastpage

2753

Abstract

To improve the efficiency of the weld testing for a cylindrical oilcan performed by the wall-climbing robot, this paper gives an algorithm for generating the Voronoi diagram from the points set on a cylinder by modification process. Based on this algorithm the paper also provides a method about the design of cylindrical tank wallboards and the weld testing path planning from Delaunay triangulation. A software simulation platform is also developed. The simulation results show that the method is effective to the stand cylindrical tank design and the wall-climbing robot weld testing path planning

Keywords

computational geometry; mesh generation; mobile robots; path planning; robotic welding; tanks (containers); Delaunay triangulation; Voronoi diagram; cylindrical oilcan weld; cylindrical tank wallboards; wall-climbing robot path planning; weld testing; Automatic testing; Intelligent robots; Path planning; Performance evaluation; Petroleum; Robotics and automation; Space technology; Steel; System testing; Welding; Delaunay Triangulation; Oilcan design; Path planning; Voronoi diagram; the points set;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282001

Filename

4058807