The International Association for Automation and Robotics in Construction
Publications / 2024 Proceedings of the 41st ISARC, Lille, France
A construction robot path planning method based on safe space and worker trajectory prediction
As the key to intelligent construction, construction robots can perform complex and dangerous tasks instead of workers. Construction robot path planning (CRPP) is a prerequisite for executing tasks. However, dynamic environments and moving workers at sites create significant difficulties for CRPP. To solve this issue, this research proposes a construction robot path planning method based on safe space and worker trajectory prediction. Firstly, a grid map with a target point is automatically established based on BIM (Building Information Modeling) and construction schedule. Secondly, an improved A* algorithm with a dynamic weight of the heuristic function is developed for global path planning. Thirdly, the worker and robot safe space are defined, and worker trajectory is predicted to improve the DWA (Dynamic Window Approach) for local path planning. Furthermore, a decision model is developed to deal with the path conflict based on the potential collision zone (PCZ). Finally, an experiment is designed and conducted to validate the proposed method. It is found that the method can effectively achieve the optimal path and resolve path conflict to ensure worker and robot safety.
