Your Search Results

Use this resource - and many more! - in your textbook!

AcademicPub holds over eight million pieces of educational content for you to mix-and-match your way.

Experience the freedom of customizing your course pack with AcademicPub!
Not an educator but still interested in using this content? No problem! Visit our provider's page to contact the publisher and get permission directly.

Optimal Planning of a Mobile Sensor for Aircraft Rivet Inspection

By: Hongjun Chen; Weihua Sheng; Ning Xi; Heping Chen;

2005 / IEEE / 0-7803-8914-X


This item was taken from the IEEE Conference ' Optimal Planning of a Mobile Sensor for Aircraft Rivet Inspection ' This paper addresses the path planning problem of a mobile sensor, which is a micro Crawler robot equipped with a Eddy Current probe, for aircraft rivet inspection. Due to the specific movement characteristic of the Crawler robot, the path, or the rivet sequence should enable the Crawler robot to realize the localization-and-reposition process. Therefore a final path is subject to the following three requirements: i) the distance between any two consecutive rivets on the path should be less than a threshold distance; ii) the number of turns should be minimized and iii) the overall distance should be minimized. In this paper, a novel algorithm is developed to generate the required path. This algorithm first identifies the minimum set of line segments partitioning all the rivets and then connects the line segments to minimize the overall distance. Simulation results are provided to validate the proposed algorithm.