@inproceedings{0659b3921c104b0ab610bb5573ec8437,
title = "Robotic Scanning Path Planning Based on K-means Clustering and PSO",
abstract = "In order to achieve automated scanning of complex parts, this paper proposes a model-based robotic scanning path planning algorithm, which mainly consists of viewpoint planning and path planning. Viewpoint planning is implemented based on the point cloud obtained by sampling the 3D CAD model, and the evaluation of candidate viewpoints is accomplished using the principle of ray casting. The scanning path of the robotic arm is obtained through the Particle Swarm Optimization (PSO) algorithm using the viewpoints generated from viewpoint planning. A smooth and executable scanning trajectory is generated by applying B-spline interpolation and spherical linear interpolation. Simulation verification is conducted to validate the effectiveness of the proposed robotic scanning path planning method.",
keywords = "3D scanning, measurement, path planning, point cloud, robotics, viewpoint planning",
author = "Sheng Gao and He Jiang and Peng Xu and Bing Li",
note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 7th International Conference on Mechatronics Technology and Intelligent Manufacturing, ICMTIM 2026 ; Conference date: 17-04-2026 Through 19-04-2026",
year = "2026",
doi = "10.1109/ICMTIM69588.2026.11526566",
language = "英语",
series = "2026 7th International Conference on Mechatronics Technology and Intelligent Manufacturing, ICMTIM 2026",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "246--250",
booktitle = "2026 7th International Conference on Mechatronics Technology and Intelligent Manufacturing, ICMTIM 2026",
address = "美国",
}