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Autonomous construction framework for crane control with enhanced soft actor–critic algorithm and real‐time progress monitoring
Computer-Aided Civil and Infrastructure Engineering ( IF 8.5 ) Pub Date : 2025-01-30 , DOI: 10.1111/mice.13427
Yifei Xiao, T. Y. Yang, Fan Xie
Computer-Aided Civil and Infrastructure Engineering ( IF 8.5 ) Pub Date : 2025-01-30 , DOI: 10.1111/mice.13427
Yifei Xiao, T. Y. Yang, Fan Xie
With the shortage of skilled labors, there is an increasing demand for automation in the construction industry. This study presents an autonomous construction framework for crane control with enhanced soft actor–critic (SAC‐E) algorithm and real‐time progress monitoring. SAC‐E is a novel reinforcement learning algorithm with superior learning speed and training stability for lifting path planning. In addition, robotic kinematics and a control algorithm are implemented to ensure that the crane can autonomously execute the lifting path. Last, novel hardware communication interfaces between robot operating system and building information modeling (BIM) are developed for real‐time construction progress monitoring. The performance of the proposed framework was demonstrated using a robotized mobile crane to stack concrete retaining blocks. The results show that the proposed framework can be effectively used to execute the retaining block construction using the robotized mobile crane with real‐time construction update in the BIM platform.
中文翻译:
用于起重机控制的自主施工框架,具有增强的 soft actor-critic 算法和实时进度监控
随着熟练劳动力的短缺,建筑行业对自动化的需求不断增加。本研究提出了一种具有增强型软行为者批评者 (SAC-E) 算法和实时进度监控的起重机控制的自主施工框架。SAC-E 是一种新颖的强化学习算法,具有卓越的学习速度和训练稳定性,可用于提升路径规划。此外,还实施了机器人运动学和控制算法,以确保起重机可以自主执行提升路径。最后,开发了机器人作系统和建筑信息模型 (BIM) 之间的新型硬件通信接口,用于实时监控施工进度。使用机器人移动起重机堆叠混凝土挡土块演示了所提出的框架的性能。结果表明,所提出的框架可以有效地用于使用机器人移动起重机执行挡土块施工,并在 BIM 平台中实时更新施工。
更新日期:2025-01-30
中文翻译:
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用于起重机控制的自主施工框架,具有增强的 soft actor-critic 算法和实时进度监控
随着熟练劳动力的短缺,建筑行业对自动化的需求不断增加。本研究提出了一种具有增强型软行为者批评者 (SAC-E) 算法和实时进度监控的起重机控制的自主施工框架。SAC-E 是一种新颖的强化学习算法,具有卓越的学习速度和训练稳定性,可用于提升路径规划。此外,还实施了机器人运动学和控制算法,以确保起重机可以自主执行提升路径。最后,开发了机器人作系统和建筑信息模型 (BIM) 之间的新型硬件通信接口,用于实时监控施工进度。使用机器人移动起重机堆叠混凝土挡土块演示了所提出的框架的性能。结果表明,所提出的框架可以有效地用于使用机器人移动起重机执行挡土块施工,并在 BIM 平台中实时更新施工。