Spatial Model for Path Planning of Multiple Mobile Construction Robots

Abstract:   This article presents a new spatial model for construction sites that supports path planning of construction robots. The model represents construction sites as partially known and partially unknown. Considering technological reality, spatial location accuracy constraints, and economical efficiency, only the essential boundary information is included in the known environment and modeled as a cell system and network. The cell system is a geometric object and provides the domain for path planning. The network is a topological object for computing the shortest path. Global and local planners are required for path planning to get the full benefits of the spatial model. The global planner computes the shortest path and provides it to the local planner as a sequence of vertices (subgoals). While following the subgoals, the local planner modifies the shortest path to avoid unknown obstacles.