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Autonomous cart docking for transportation robots in complex and dynamic construction environments
Automation in Construction ( IF 9.6 ) Pub Date : 2025-01-21 , DOI: 10.1016/j.autcon.2025.105968
Guang Yang, Shuoyu Wang, Hajime Okamura, Toshiaki Yasui, Shingo Ino, Kazuo Okuhata, Yoshinobu Mizobuchi

Autonomous material transportation robots offer an efficient solution for moving goods at construction sites, delivering tools, building materials, and supplies to precise locations. The integration of these robots with various types of carts commonly used on construction sites could significantly ease operational requirements, reducing the cost of robotic adoption to a level more feasible for construction contractors. However, achieving reliable docking — where the robot joins with a cart to form a unified transport unit — remains a challenge in the complex and dynamic construction site environment. This paper introduces a robust docking method for autonomous robots to connect seamlessly with carts, even in these challenging conditions. The paper presents a multi-scale perception approach that continuously tracks the relative position and orientation of the cart with respect to the robot. A hybrid motion controller is then introduced, combining a sampling-based obstacle avoidance method with a tracking controller to achieve precise and resilient docking. Experimental evaluations conducted at multiple construction sites across Japan demonstrate the effectiveness of the proposed perception and docking methods, tested with gate-type construction robots.

中文翻译:


运输机器人在复杂和动态建筑环境中的自主推车对接



自主物料运输机器人为在建筑工地移动货物、将工具、建筑材料和用品运送到精确位置提供了高效的解决方案。将这些机器人与建筑工地上常用的各种类型的推车集成,可以显着简化操作要求,将机器人的采用成本降低到对建筑承包商来说更可行的水平。然而,在复杂多变的建筑工地环境中,实现可靠的对接(机器人与推车连接以形成一个统一的运输单元)仍然是一个挑战。本文介绍了一种强大的对接方法,让自主机器人即使在这些具有挑战性的条件下也能与推车无缝连接。本文提出了一种多尺度感知方法,该方法连续跟踪推车相对于机器人的相对位置和方向。然后介绍了一个混合运动控制器,将基于采样的避障方法与跟踪控制器相结合,以实现精确和有弹性的对接。在日本多个建筑工地进行的实验评估证明了所提出的感知和对接方法的有效性,并使用门式建筑机器人进行了测试。
更新日期:2025-01-21
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