Efficient Path Planning for Collision Avoidance of Construction Vibration Robots Based on Euclidean Signed Distance...

Area of Science:

• Robotics and Civil Engineering
• Automation and Control Systems

Background:

• Traditional manual concrete vibration is labor-intensive and inefficient.
• Existing automated methods lack flexibility and safety for complex construction environments.

Purpose of the Study:

• To develop an optimized path planning method for autonomous concrete vibrating robots.
• To enhance the safety and efficiency of concrete vibration tasks through advanced robotics.

Main Methods:

• Utilized safe flight corridors generated by a vector method.
• Applied Euclidean signed distance fields for path optimization.
• Integrated safe flight corridors and Euclidean distance fields for autonomous navigation.

Main Results:

• Reduced runtime by 80% and enhanced safety by 50% compared to original methods.
• Achieved on-embedded system runtime under 10 ms.
• Increased task execution efficiency by 60% in real-world tests, safely avoiding obstacles and workers.

Conclusions:

• The proposed method offers a robust and efficient solution for autonomous concrete vibration.
• This study pioneers the application of combined safe flight corridors and Euclidean distance fields in this domain.
• Findings significantly contribute to the automation of construction processes and robotic applications.