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。
Intelligent construction robots,as the key equipment to implement the intelligent transformation of the con-struction 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 con-struction 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 applica-tion 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 sugges-tions 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.
作者
于军琪
陈易圣
冯春勇
苏煜聪
郭聚刚
YU Junqi;CHEN Yisheng;FENG Chunyong;SU Yucong;GUO Jugang(School of Information and Control Engineering,Xi’an University of Architecture and Technology,Xi’an 710055,China;School of Mechanical and Electrical Engineering,Xi’an University of Architecture and Technology,Xi’an 710055,China;School of Construction Equipment Science and Engineering,Xi’an University of Architecture and Technology,Xi’an 710055,China)
出处
《计算机工程与应用》
CSCD
北大核心
2024年第10期16-29,共14页
Computer Engineering and Applications
基金
国家重点研发计划(2022YFC3802703-04)
西安建筑科大工程技术有限公司技术研发项目(XAJD-YF23N003)。
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
intelligent construction
construction robots
local path planning
classical planning algorithms
artificial intelligence
