A survey on path planning algorithms in robotic fibre placement

摘要

In this paper, the research background and development of robotic fibre placement for composites are first reviewed briefly. Then current path planning algorithms are introduced and classified as the fixed angle path planning algorithm and the variable angle path planning algorithm. The formulation of the initial path and surface coverage are mainly presented for the fixed angle algorithm, and the variable angle algorithm is described from the perspective of reducing gap and overlap between tows and enhancing the strength and stiffness of the structure. At last, comparisons between the two path planning methods are discussed and future developments are prospected.