Gao, Yifan;
Meng, Jiawei;
Shu, Jiangpeng;
Liu, Yuanchang;
(2022)
BIM-based task and motion planning prototype for robotic assembly of COVID-19 hospitalisation light weight structures.
Automation in Construction
, 140
, Article 104370. 10.1016/j.autcon.2022.104370.
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Abstract
Fast transmission of COVID-19 led to mass cancelling of events to contain the virus outbreak. Amid lockdown restrictions, a vast number of construction projects came to a halt. Robotic platforms can perform construction projects in an unmanned manner, thus ensuring the essential construction tasks are not suspended during the pandemic. This research developed a BIM-based prototype, including a task planning algorithm and a motion planning algorithm, to assist in the robotic assembly of COVID-19 hospitalisation light weight structures with prefabricated components. The task planning algorithm can determine the assembly sequence and coordinates for various types of prefabricated components. The motion planning algorithm can generate robots' kinematic parameters for performing the assembly of the prefabricated components. Testing of the prototype finds that it has satisfactory performance in terms of 1) the reasonableness of assembly sequence determined, 2) reachability for the assembly coordinates of prefabricated components, and 3) capability to avoid obstacles.
| Type: | Article |
|---|---|
| Title: | BIM-based task and motion planning prototype for robotic assembly of COVID-19 hospitalisation light weight structures |
| Location: | Netherlands |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1016/j.autcon.2022.104370 |
| Publisher version: | https://doi.org/10.1016/j.autcon.2022.104370 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| Keywords: | Building information modelling, COVID-19 pandemic, Hospitalisation facility, Motion planning, Robotic construction |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10149459 |
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