A Methodology for Multi-goal Trajectory Planning in Welding
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.
KeywordsTrajectory 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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