A Simulated Annealing algorithm is employed to optimally plan the trajectory of the manipulator of an Automated Crack Sealing machine. This paper presents the semi-automatic image processing based method that is first used to identify the cracks to be sealed. Because of frequent morphological complexity of pavement cracks, an optimization approach is necessary to best plan the trajectory. The developed algorithm provides a complete path including crack coordinates, and the optimal shortest path to allow sealing of all cracks. Actual pavement images are processed to show the efficacy of the approach.

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