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Construction Robot Path-Planning for Earthwork Operations |
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| Authors: | Sung-Keun Kim Jeffrey S. Russell Kyo-Jin Koo |
| Affiliation: | 1Senior Researcher, Korea Institute of Construction Technology, 2311 Taewha-Dong, Ilsan-Gu, Koyang-Shi, Kyunggi-Do, 411-712, South Korea. 2Professor, Dept. of Civil and Environmental Engineering, Univ. of Wisconsin-Madison, 2304 Engineering Hall, 1415 Engineering Dr., Madison, WI 53706. 3Assistant Professor, The Univ. of Seoul, Dept. of Architectural Engineering, Cheonnong-Dong 90, Tongdaemoon, Seoul, 130-743, South Korea. |
| Abstract: | In developing an intelligent mobile construction robot, a navigation system that can provide an effective and efficient path-planning algorithm is a very important element. The purpose of a path-planning method for a mobile construction robot is to find a continuous collision-free path from the initial position of the construction robot to its target position. This paper presents an improved Bug-based algorithm, called SensBug, which can produce an effective path in an unknown environment with both stationary and movable obstacles. The contributions, which make it possible to generate an effective and short path, are an improved method to select local directions, a reverse mode, and a simple leaving condition. Some emerging technologies that can be used for implementing an intelligent construction robot are introduced in this paper. |
| Keywords: | Construction planning Automation Earthwork Robotics |