关键词: 建筑机器人, 建筑信息模型（BIM）, 路径规划, A*算法, 动态窗口法, 避障

Abstract:

Aiming at the requirements of the optimal global path planning for building robots entering the construction site and real-time obstacle avoidance, a new navigation map construction method is proposed. The navigation map is established through the building BIM model, and the search point selection strategy is optimized by optimizing the A* algorithm. The redundant turning point on the path is deleted, the running time of the algorithm is shortened, and the planned global path does not closely follow the building wall, which effectively reduces the possibility of collision between the robot and the wall. Combined with the dynamic window algorithm for local path planning, the dynamic window method is used between the global path key points, and new brake determination conditions are added to make the robot’s motion continuous. The experimental results show that the improved A* algorithm running time is reduced by more than 50% compared with the original algorithm. The path length of each redundant turning point is reduced by 0.4?m, and the distance between the path and the obstacle is increased by 2 times compared with the original algorithm. After the dynamic window method, the obstacle can be better avoided and the output control parameters are continuous.

Key words: construction robot, Building Information Modeling（BIM）, path planning, A* algorithm, dynamic window approach, obstacle avoidance