Research on the Path Planning of the Construction Robot Based on BIM: Fid-Bau Portal

Research on the Path Planning of the Construction Robot Based on BIM

Zhu, Fenghao / Liu, Zhenzhong

Aiming at the problem of the optimal global path planning of the construction robot entering the target point of the construction site and the efficient construction of the navigation map, a BIM(Building information modeling)-based construction robot job planning method is proposed. The traditional method of building a map environment for construction robots is obtained by its own sensors, which has a large amount of calculation. Firstly, the real construction environment is established through the BIM model, which effectively improves the efficiency of generating navigation map . Secondly, adding goal-directed functions to the RRT algorithm, combined with the target bias expansion algorithm based on the idea of artificial potential fields to further accelerate the search efficiency. Finally, the pruning algorithm is used to reduce the redundant points, which shortens the running time of the algorithm and the simulation time of the robot. The improved RRT algorithm before and after was compared and simulated in the construction environment of BIM in V-rep. The experimental results demonstrate a reduction of more than 50% in the final path simulation time for the improved RRT algorithm.