Motion Planning for Automated Construction

Increasing research and development in the area of construction robotics and computer-aided-construction has resulted in large number of automated construction equipment applications. Full potential of such construction equipment can be realized by providing the collision avoidance motion planning capabilities. Models used in motion planning can be categorized into two types: (1) planning with complete information and (2) planning with incomplete information. State-of-the-art general algorithms appropriate for the motion planning process are highlighted. Motion planning with complete information are typically NP-complete and hence are modeled by appropriate approaches or by exploration of special conditions. Motion planning with incomplete information requires sensory feedback. An algorithm for motion planning in an automated concrete placement operation that exploits the special conditions provided by structural engineering floor design theory is also provided.