Abstract
The construction industry is facing serious challenges, such as labor shortage and safety hazards. Construction robots can perform dangerous and repetitive tasks instead of workers. However, complex construction tasks require multi-robot collaboration, which needs efficient task allocation. This paper describes a two-stage task allocation method using an improved Genetic Algorithm (GA) for multiple construction robots. First, a construction task decomposition and grouping method under construction constraints is established, using a steel structure as example. Second, a Multi-Robot Construction Task Allocation (MRCTA) model is developed by modeling construction robots and tasks. Third, the MRCTA problem is divided into two stages, i.e., determining the optimal construction robot group for each task and the best task sequence for each robot group. Finally, a simulated experiment was designed and conducted. The results show that the method can efficiently find optimal solutions and the improved GA can enhance the diversity to achieve well-adapted solutions.
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