An Obstacle Avoidance Algorithm for Path Planning Based on Inspection MBD Model

Aiming at measuring path planning, based on inspection MBD (Model Based Definition) models of the measured parts, size and position information of the parts' features are generated. Global coordinate equations of the features are established. In measuring process, probe heads should move along the outer normal vector, and the path should be the shortest. Under these constraint condictons, the obstacle avoidance path are created between the probe head starting points and the inspected feature's origin points. Finally, an example is given to verify the algorithm, which offers a base for the whole path planning considering the change of the probe heads and their direction.