Optimized motion planning for mobile robots in dynamic construction environments with low-feature mapping and pose-based positioning

IF 11.5 1区工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY

Automation in Construction Pub Date : 2025-06-12 DOI:10.1016/j.autcon.2025.106334

Song Du , Miaomiao Du , Yan Gao , Minxin Yang , Fuji Hu , Yiwei Weng

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引用次数: 0

Abstract

Optimizing autonomous motion planning for robots in dynamic and uncertain construction environments is crucial. Real-time planning is challenged by the complexity of map-building data processing and path optimization. This paper introduced a dynamic motion planning approach utilizing low-feature data, multi-constraint path planning, and flexible positioning. A multi-sensor data fusion method generates grid-based 2D dynamic maps for efficient data processing and real-time perception. The approach incorporates multiple constraints, including safety, stability, and energy consumption, to optimize path planning. Flexible destination positioning is achieved through pose recognition in changing construction scenarios. Real-time experiments demonstrate that the proposed method reduces CPU usage by 19 %, memory usage by 8 %, and energy consumption by 9.5 % compared to traditional methods using LIO-SAM mapping and RRT path planning. This paper provided an efficient and safe motion planning approach for mobile robots in dynamic environments, achieving low energy consumption and enhanced operational efficiency.

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基于低特征映射和位姿定位的动态建筑环境下移动机器人运动规划优化

动态和不确定施工环境中机器人自主运动规划的优化至关重要。实时规划受到地图构建数据处理和路径优化的复杂性的挑战。提出了一种基于低特征数据、多约束路径规划和柔性定位的动态运动规划方法。一种多传感器数据融合方法生成基于网格的二维动态地图，以实现高效的数据处理和实时感知。该方法结合了安全、稳定、能耗等多个约束条件，对路径规划进行优化。在多变的施工场景中，通过姿态识别实现灵活的目的地定位。实时实验表明，与使用LIO-SAM映射和RRT路径规划的传统方法相比，该方法的CPU占用率降低19%，内存占用率降低8%，能耗降低9.5%。本文为移动机器人在动态环境中提供了一种高效、安全的运动规划方法，实现了低能耗和提高运行效率。

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来源期刊

Automation in Construction 工程技术-工程：土木

CiteScore

19.20

自引率

16.50%

发文量

563

审稿时长

8.5 months

期刊介绍： Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.