Reinforcement learning-based method 3D motion planning for a 3D inspection task using prior viewpoint information

• Main Author: Chee, Yeng Sung
• Other Authors: Pham Quang Cuong
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/158522
• Institution: Nanyang Technological University

Surface inspection and shape reconstruction is a common application in the factory production line. In a robotic inspection task, generating an optimal collision-free trajectory while meeting the coverage requirement of the target object is challenging because there are inspection cost and traveling...