Multiple chromosomes particle swarm optimization-based coverage path planning for complex surfaces spray painting

Coverage path planning for complex three-dimensional surfaces spray painting is one of the challenging problems in robotics. In this article, we propose a multiple chromosomes particle swarm optimization approach to address the coverage path planning problem for complex three-dimensional surfaces spray painting. Firstly, a layered segmentation method, which is composed of three-dimensional hole identification and region partition, is proposed to divide the complex surface into multiple simple regions with little curvature change and no holes. Secondly, a zigzag path is determined in each region by considering the practical aspects for spray painting. Thirdly, by taking short distance, few turns and high coverage rate into account, a multiple chromosomes particle swarm optimization algorithm is presented to connect the zigzag paths of the regions. Experimental tests are carried out on a complex surface, and the results validate the effectiveness of the proposed approach.