Optimization in automated surface inspection of stamped automotive parts

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.Link_to_subscribed_fulltex