Comprehensive Review of Research Progress on Trajectory Planning and Weld Seam Tracking in Wire Arc Additive Manufacturing

Wire arc additive manufacturing (WAAM) has emerged as a promising technology for producing large-scale metal components due to its high deposition efficiency, low material cost, and design flexibility. However, the widespread industrial adoption of WAAM is hindered by challenges in geometric accuracy, process stability, and defect control, which are closely related to two critical aspects: trajectory planning and real-time weld seam tracking. This review provides a comprehensive and critical analysis of recent advances in both fields, with an emphasis on their interconnection rather than treating them as separate research streams. Unlike existing reviews that primarily summarize path planning algorithms or image processing techniques in isolation, this paper explicitly examines the integration challenges and synergistic potential between offline trajectory optimization and online vision-based monitoring. Key topics include adaptive path strategies for sharp corners and intersections, interlayer filling methods to mitigate heat accumulation and residual stress, as well as passive and active visual sensing technologies for molten pool characterization and defect detection. The review further identifies a persistent gap in closed-loop systems that combine real-time image feedback with dynamic path replanning. Based on the analysis of representative studies, current limitations are discussed and future research directions are proposed, including the development of digital twins, multi-modal data fusion, and reinforcement learning-based adaptive control. This review offers a distinct perspective aimed at advancing intelligent, high-precision WAAM systems for complex metal components.