智能建造机器人局部路径规划研究综述

doi:10.3778/j.issn.1002-8331.2309-0203

摘要/Abstract

摘要： 智能建造机器人作为落实建筑业智能化转型的关键设备，其自主施工能力代表着智能建造的水平，而局部路径规划是机器人高效施工的关键技术。针对建筑施工现场的环境特点，探究了智能建造机器人局部路径规划的难点。首先分析阐述了人工势场、时间弹性带、Bug、动态窗口等经典局部路径规划算法；其次对强化学习、深度强化学习、模糊控制、群智能等人工智能的局部路径规划算法进行了归纳总结；最后分析了各种方法在施工现场环境中智能建造机器人应用的局限性，讨论了智能建造机器人局部路径规划算法的发展趋势，旨在为复杂施工现场智能建造机器人局部路径规划研究提供一定的思路和建议，提高机器人的自主施工能力，促进智能建造技术的发展。

关键词: 智能建造, 建筑机器人, 局部路径规划, 经典规划算法, 人工智能

Abstract: Intelligent construction robots, as the key equipment to implement the intelligent transformation of the construction industry, represent the level of intelligent construction with their autonomous construction capability, and local path planning is the key technology for efficient robot construction. Aiming at the environmental characteristics of the construction site, the difficulties of local path planning for intelligent construction robots are explored. Firstly, classical local path planning algorithms such as artificial potential field, time elasticity band, Bug, dynamic window, etc. are analyzed. Secondly, local path planning algorithms of artificial intelligence such as reinforcement learning, deep reinforcement learning, fuzzy control, swarm intelligence, etc. are summarized. Finally, the limitations of various methods on the application of intelligent construction robots in the construction site environment are analyzed, and the development trend of local path planning algorithms of intelligent construction robots is discussed, aiming to provide certain ideas and suggestions for the research on local path planning of intelligent construction robots in complex construction sites, improve the autonomous construction ability of robots, and promote the development of intelligent construction technology.

Key words: intelligent construction, construction robots, local path planning, classical planning algorithms, artificial intelligence

于军琪, 陈易圣, 冯春勇, 苏煜聪, 郭聚刚. 智能建造机器人局部路径规划研究综述[J]. 计算机工程与应用, 2024, 60(10): 16-29.

YU Junqi, CHEN Yisheng, FENG Chunyong, SU Yucong, GUO Jugang. Review of Research on Local Path Planning for Intelligent Construction Robots[J]. Computer Engineering and Applications, 2024, 60(10): 16-29.

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