Wall-climbing Robot Path Planning for Testing Cylindrical Oilcan Weld Based on Voronoi Diagram

To improve the efficiency of the weld testing for a cylindrical oilcan performed by the wall-climbing robot, this paper gives an algorithm for generating the Voronoi diagram from the points set on a cylinder by modification process. Based on this algorithm the paper also provides a method about the design of cylindrical tank wallboards and the weld testing path planning from Delaunay triangulation. A software simulation platform is also developed. The simulation results show that the method is effective to the stand cylindrical tank design and the wall-climbing robot weld testing path planning