Research on path generation and stability control method for UAV‐based intelligent spray painting of ships

Abstract

This paper presents an intelligent path planning method with multiple constraints to solve the problem of instability of unmanned aerial vehicle (UAV) intelligent spray painting (UAV‐ISP) systems for spray painting the outer panels of ships. Spray‐painting path planning is realized using the multiobjective particle swarm algorithm and ant colony algorithm. In addition, a stability control method for the UAV based on the linear active disturbance rejection control (LADRC) algorithm is proposed and controlled by Mission Planner ground station software to solve the stability control problem of UAVs during spray painting. Through the above two key technologies, the painting quality of the UAV‐ISP system is guaranteed. First, a three‐dimensional (3D) model of the ship was obtained in a 3D modeling environment. Then the paint paths were optimized using the multiobjective particle swarm algorithm. The optimized path planning results were then combined using the ant colony algorithm to obtain the final spray painting path. Force analysis of the UAV during spray painting was carried out using the Newton–Euler equation and catenary theory, and a mathematical model of the UAV spray‐painting system with multiload coupling was established. Finally, a stability control system for the spray‐painting UAV based on LADRC was designed. The experimental and simulation results show that the proposed painting path is accurate, the spray‐painting UAV has good stability, and the spray‐painting quality of the UAV‐ISP system meets the standards for the outer panels of ships.

Design and Implementation of an Intelligent Spray-Painting System for a Panel Beating Shop: Enhancing Efficiency and Precision in Vehicle Painting

“…Additionally, there is limited research on the integration of collaborative robots (Cobots) in the spray-painting process. Collaborative robots are designed to work safely alongside human workers and can automate repetitive and labor-intensive tasks [8,19]. However, their application in the context of spray painting and their potential benefits and limitations have not been extensively explored.…”

“…It is versatile, customizable, and easy to use. However, it may cause air entrapment and has limited mixing direction [8]. The paint shaker shown in Figure 5, on the other hand, uses vibration or oscillation to mix paint in cans or containers.…”

Proposal for a UAV-Integrated Manipulator-Based System for Capturing Animals with Anesthesia: Simulation and Experimental-Based Validation

“…The utilization of UAVs, both in civilian and military contexts, is continuously increasing. Moreover, the integration of different devices into UAVs further expands their range of applications (Cai et al, 2022;Hirata, 2022;Lee et al, 2021;Liu et al, 2022;Mitra et al, 2021;Ribeiro et al, 2021;Unlu et al, 2023). Initially, UAVs were primarily used for imaging purposes by incorporating cameras (Altan & Hacıoğlu, 2020;Karaduman et al, 2019;Khan et al, 2022;Yao et al, 2019).…”

Design and Process Planning of Non-Structured Surface Spray Equipment for Ultra-Large Spaces in Ship Section Manufacturing

“…For instance, Gangfeng Liu from Harbin Institute of Technology, among others [15], designed a ship-coating platform based on a large mobile hydraulic mechanical arm. In addition, some researchers have explored the possibility of spraying with UAVs [16]. Wall-climbing spraying robots and UAVs have good flexibility.…”