Development of BIM-integrated construction robot task planning and simulation system

Abstract

A major challenge toward construction robotization is a lack of a system that generates detailed behaviors of robots as part of the construction process based on information contained in building information modeling (BIM) and construction schedules. This study extends BIM to incorporate robot task planning and generate detailed motions conducting construction tasks. A prototype was built upon robot operating system (ROS), focusing on generating robot task plans for indoor wall painting. The prototype includes a converter that generates a ROS-compliant world file from industry foundation classes (IFC) file and sub-processes that conduct localization, navigation, and motion planning. A case study was conducted to demonstrate the system's capability to simulate behaviors of a painting robot and evaluate the performance within the context of the construction-related tasks. The case study demonstrates the proposed BIM-leveraged robot task planning can integrate construction and robotics domains to plan operations of autonomous robots in construction projects.