Mobile robot mapping and path planning for ship blocks bottom painting

Abstract Due to the characteristics of small operable space and large processing area, the development of automated painting equipment for ship blocks bottom painting at home and abroad is still in the exploratory stage. In this paper, we design a mobile robot for the bottom painting of ship blocks bottom painting, and improve the intelligent spraying system for whole ship blocks. The mapping and path planning research for the bottom of ship segments puts forward a static mapping idea: SLAM algorithm maps the basic environment of the workshop (only once), the sensor collects point cloud data of segments and converts them into 2D contour maps, and finally the two are fused to realize the drawing of a complete map of the workshop. Then a Full-Coverage Path-Planning method is applied, aiming at avoiding collisions and planning a coverage path that can fully traverse the whole bottom of the segment.