A Methodology for Multi-goal Trajectory Planning in Welding

  • Nianfeng Wang
  • Yaoqiang HeEmail author
  • Xianmin Zhang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


In this paper, a methodology is proposed for multi-goal trajectory planning in welding, which is divided into effective movements and supporting movements. For effective movements, four objective functions are defined to describe the task requirements. A non-dominated sorting genetic algorithm (NSGA-II) is used to get the optimum solution. For supporting movements, the classical algorithm RRT-Connect is adopted to find a minimum-time trajectory and a smoothing algorithm is proposed to remove the redundant vertices. A simulation is presented to show that the proposed algorithms are effective and an experiment is conducted to illustrate that the trajectories meet the welding requirements.


Trajectory planning Multi-goal Welding Smoothing algorithm 



The authors would like to gratefully acknowledge the reviewers comments. This work is supported by National Natural Science Foundation of China (Grant Nos. U1713207), Science and Technology Planning Project of Guangdong Province (2017A010102005), Key Program of Guangzhou Technology Plan (Grant No. 201904020020).


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, School of Mechanical and Automotive EngineeringSouth China University of TechnologyGuangzhouChina

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