Bricklaying robot moving algorithms at a construction site

摘要

Abstract Automation of bricklaying using mobile robots requires new solutions in many spheres, including developing new algorithms. A mobile bricklaying robot moving at a construction site is considered as a task of planning its trajectory. The task is partly similar to passing a maze but has some distinctive features. Analysis of required movements and analysis of structure of a typical masonry plan allows create an approach to building a moving algorithm for a bricklaying robot. The developed algorithms consist of two separate algorithms, one for moving while directly building walls, another for fast and effective travelling between two points of a map without laying bricks. The developed algorithm has to be tested for different masonry plans and may be optimized in the described ways.