Optimizing path for kinematically redundant robotic inspection system using Obstacle Based Probabilistic Roadmap and Genetic Algorithm

A new path planner is proposed for redundant robotic inspection system which consisting of 7 degree of freedom. It uses Obstacle Based Probabilistic Roadmap (OBPRM) as path planner and an optimization technique based on Genetic Algorithm (GA) to find an inspection path with shortest cycle time. OBPRM is used to find shortest path in between two inspection points and GA is used to find sequence of these inspection points to obtain minimal cycle time. Different distance metrics used for OBPRM and GA are discussed. Finally using the proposed path planner a 15% reduction in cycle time for inspection was obtained.