A genetic algorithm-based surface segmentation method for spray painting robotics

Two novel methods of complex surface segmentation in robot spray trajectory planning are developed. It is designed by using genetic algorithm. The first method is able to separate the largest patch from the surface, while the second approach is capable of dividing the surface with the smallest number of slices. Moreover, different initial triangles are selected to produce different segmentation results. This will inevitably affect the result of trajectory planning. Simulation results with the proposed approaches applied to the part of car's front are further presented to validate effectiveness of the proposed methods.

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