Optimization in automated surface inspection of stamped automotive parts

摘要

This paper addresses the robot path planning problem for automotive part inspection using structured light method. This problem is rendered as a traveling salesman problem (TSP). A new approach is developed to solve the TSP into its sub-optimality quickly. Instead of solving a large size TSP, this approach utilizes the clustered nature of the viewpoints and converts the TSP into a clustered traveling salesman problem (CTSP). A new algorithm, which favors the inter-group paths, is proposed to solve the CTSP. Experimental results on various automotive parts validate the new algorithm.