Work

Robot Path Planning Based on Improved PRM for Wing-Box Internal Assembly

Year: 2025

Type: article

Abstract: Currently, fastener installation within the narrow, confined space of a wing box must be performed manually, as existing robotic systems are unable to adequately meet the internal assembly requirements. To address this problem, a new robot with one prismatic and five revolute joints (1P5R) has been developed for entering and operating inside the wing box. Firstly, the mechanical structure and control system of the robot were designed and implemented. Then, an improved Probabilistic Roadmap (PRM) method was developed to enable rapid and smooth path planning, mainly depending on optimization of sampling strategy based on Halton sequence, an elliptical-region-based redundant point optimization strategy using control points, improving roadmap construction, and path smoothing based on B-spline curves. Finally, obstacle–avoidance path planning based on the improved PRM was simulated using the MoveIt platform, corresponding robotic motion experiments were conducted, and the improved PRM was validated.

Source: Machines

DOI: 10.3390/machines13100952

Authors: Jiefeng Jiang, Yong You, Youtao Shao, Yunbo Bi, Jingjing You

Institutions: Hangzhou Normal University, Zhejiang University, Nanjing Forestry University

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,896