Trajectory planning of prefabricated building robot based on laser sensing adaptive method
In order to avoid the threat of robot collision to construction process and safety,and stimulate the great po-tential of robots in prefabricated buildings,a laser sensing adaptive trajectory planning method for prefabricated building robots is proposed.The grid map of a prefabricated building is constructed,and the peripheral environment data of the robot is obtained by the laser sensor.The improved A*algorithm is used to remove redundant nodes,so that the path only includes the beginning,end and key points.The dynamic window and ant colony algorithm are used for local trajec-tory planning,and the target velocity is calculated to complete the global planning.The experimental results are verified in the grid map of a prefabricated building.In the static grid environment,the proposed method can plan a 38.6m path in 165 iterations and 3.16s.In a dynamic grid environment,this method can avoid dynamic obstacles in 248 iterations and 3.81s.The results show that the path of this method is smoother than that of the literature method[5,6],and a shorter path can be planned in less time and number of iterations.
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