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Collision-free trajectory planning for robotic assembly of lightweight structures
Jiangpeng Shu1,2,3, Wenhao Li1, Yifan Gao1
1College of Civil Engineering and Architecture, Zhejiang University, Hangzhou 310058, China.
Automation in Construction
|August 8, 2022
Summary
This study introduces a robot trajectory planning method for assembling COVID-19 facilities. The refined algorithm enhances collision avoidance for large components, saving time and labor while reducing virus spread.
Area of Science:
- Robotics
- Construction Engineering
- Public Health
Background:
- Prefabricated components for COVID-19 healthcare facilities pose challenges for robotic assembly due to their size.
- Integrating geometry-based collision checks into trajectory planning is critical for safe and efficient robotic construction.
Purpose of the Study:
- To develop and test an improved trajectory planning algorithm for robotic assembly of COVID-19 healthcare facility structures.
- To address the challenge of collision avoidance with large prefabricated components during robotic assembly.
Main Methods:
- A modified Rapidly-exploring Random Tree-Star (RRT*) algorithm was developed.
- The algorithm incorporates geometry-based collision checks to enable trajectory detours around prefabricated components.
Main Results:
- The developed approach demonstrated satisfactory collision-avoiding and trajectory-smoothing performance.
- The robotic method proved to be time- and labor-saving compared to traditional human assembly methods.
Conclusions:
- The trajectory planning approach is practical for robotic assembly in constructing COVID-19 healthcare facilities.
- Robotic automation can reduce human labor, potentially mitigating COVID-19 transmission on construction sites.
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