Abstract
ABSTRACT Base position (BP) optimization is a fundamental problem for robotics applications in large-scale scenarios. Although BP-related issues have been extensively studied in various fields, it remains a challenge in the construction industry due to the difficulty for mobile construction robots (MCRs) to fully leveraging accurate and explicit environmental models and construction information. This work proposes a building information modeling (BIM)-based prototype that incorporates a novel building world modeling approach and an effective BP optimization method. The former can automatically generate robot-compatible building worlds and element coordinates from BIM. Based on the parsed BIM data, the latter can determine the optimal BPs with higher manipulability for the manipulator through a two-stage optimization method. Experiments demonstrate the proposed method's ability to efficiently model the building world, and identify optimal BPs solution with an average manipulability index (AMI) improvement of 59.3 % within limited time. This system uses BIM data to guide robotic construction, laying the foundation for improving construction productivity and pointing the way for on-site automated construction in real building scenarios.
Published Version
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