Fig. 1. Scanning plan implementation steps

Fig. 2. Viewpoint of (a) long stringer side and (b) contour surface edge

Fig. 3. Scanner field of view

Fig. 4. Viewpoints collision area detection

Fig. 5. Clustering process and clustering effect

Fig. 6. Wing panels and scanning viewpoints clustering results

Fig. 7. Comparison of clustering efficiency

Fig. 8. Diagram of projection distance

Fig. 9. BKA path planning

Fig. 10. Single-station scanning path diagram

Fig. 11. Comparison of various planning algorithms

Fig. 12. Solution results of improved HO algorithm

Fig. 13. Solution results of other algorithm

Fig. 14. Interpolation curves optimized by PSO algorithm.(a)‒(c) Curves before optimization; (d)‒(f) curves after optimization

Fig. 15. Experimental object CAD model and automatic scanning system

Fig. 16. Feature extraction and viewpoint generation

Fig. 17. Scanning path planning process.(a)(b) Viewpoint and path point grouping results, respectively; (c) path result

Fig. 18. Optimization of local paths by different algorithms

Fig. 19. Coordinate system conversion

Fig. 20. (a) Joint velocity and (b) acceleration curves after optimization

Fig. 21. Automatic scanning effect