储罐探伤爬壁机器人全遍历路径规划方法.PDF

V ol N o Chinese Journal of Engineering Design Jun doi issn X j x i i i x y f i T P A X Complete coverage path planning method for oil tank inspection wall climbing robot T A N G Donglin Y U A N Bo H U Lin L I M ao ang W EI Zibing y School of M echatronic Engineering Southw est Petroleum U niversity Chengdu China Key Laboratory of Oil Gas Equipment Ministry of Education Southw est Petroleum University Chengdu China Abstract T he oil tank inspection w all clim bing robot is required to traverse all the barrier f ree ar eas on the outer w all of the tank eff iciently in co mplete coverage path planning Co m bining w ith adjacency matrix and path selection f unction a g rid deco mposition algorithm w as propo sed f or path planning of w all clim bing robot Firstly the w orking environment of the w all clim bing robot w as simplified into tw odimensional planes and the traversed basic path of robot w as deter mined by analyzing the missed area Secondly the g rid environment w as established and each grid w as given a x i value to represent it s state T hirdly the w ork environm