Applying PSO Algorithm to Determine the Scan Plan for the PA Ultrasonic Probe carried Robot in Testing the Corrosion of Fuel Tanks

Abstract

The paper shows an approach to determine the scanning plan (the shortest path) using the PSO algorithm based on the operating characteristics of the PA ultrasonic probe carryied robot, testing environment of fuel tanks and the requirements for collected ultrasonic images. The solution of the PSO problem has proposed an optimal scanning plan with shortest scanning time. Thescan plan has also been verifiedby robot movement on an area of 1000×1000 mm 2 .Experimental results showed that the simulation time is almost within 97% confidential limits of actual movement time. This means the PSO algorithm can be applied effectively into corrosion mapping for fuel tanks.