Trajectory Planning of Shape-Following Laser Cleaning Robot for the Aircraft Radar Radome Coating

At present, aircraft radome coating cleaning mainly relies on manual and chemical methods. In view of this situation, this study presents a trajectory planning method based on a three-dimensional (3D) surface point cloud for a laser-enabled coating cleaning robot. An automated trajectory planning scheme is proposed to utilize 3D laser scanning to acquire point cloud data and avoid the dependence on traditional teaching–playback paradigms. A principal component analysis (PCA) algorithm incorporating additional principal direction determination for point cloud alignment is introduced to facilitate subsequent point cloud segmentation. The algorithm can adjust the coordinate system and align with the desired point cloud segmentation direction efficiently and conveniently. After preprocessing and coordinate system adjustment of the point cloud, a projection-based point cloud segmentation technique is proposed, enabling the slicing division of the point cloud model and extraction of cleaning target positions from each slice. Subsequently, the normal vectors of the cleaning positions are estimated, and trajectory points are biased along these vectors to determine the end effector’s orientation. Finally, B-spline curve fitting and layered smooth connection methods are employed to generate the cleaning path. Experimental results demonstrate that the proposed method offers efficient and precise trajectory planning for the aircraft radar radome coating laser cleaning and avoids the need for a prior teaching process so it could enhance the automation level in coating cleaning tasks.