Abstract: The method is proposed to ensure optimal navigation path by employing BIM（building information model） based on realistic environment information obtained by lidar, which is aiming at enhancing the safety and passability of autonomous construction robot navigation in complex environment. According to the BIM information optimization A* algorithm, considering the passability and safety of the construction robot with deleting the redundant nodes in the path, and the dynamic window method is optimized between nodes according to the lidar information, which effectively ensures the most optimal path. It improves the safety, shorts the running time and reduces the turning angle. By the introduction of UWB, the positioning module can effectively eliminate the accumulated errors caused by robot movement. Experimental results show that the retrieval time is reduced 92% by optimized [A*] algorithm , the path turning angle is reduced to 50%, the path length is reduced by 13.5% than original DWA method, and the required time is only increased by 3.7% compared with non obstacles.

Key words: construction robot, building information model（BIM）, autonomous navigation, A* algorithm, dynamic window approach, ultra wide band positioning module

摘要： 针对建筑机器人在复杂环境下自主导航过程中的安全性、通过性等问题，提出了一种应用BIM（building information model）信息与激光雷达获取的现实环境信息进行导航并保证路径最优的方法。根据BIM信息优化[A*]算法，考虑建筑机器人的通过性与安全性并删除了路径中的冗余节点，在节点间根据雷达信息优化动态窗口法，有效保证了路径最优，提升了安全性、缩短了运行时间并减少了转折角度。加入超宽频定位模块，能够很好地消除机器人移动产生的累计误差。实验结果表明，改进后[A*]算法的搜索时间比改进前减少了92%，路径转折角度减少50%，路径长度比原始动态窗口法减少13.5%，所需时间仅比无障碍物时增加3.7%。

关键词: 建筑机器人, BIM, 自主导航A*算法, 动态窗口法, 超宽频定位模块