BIM-based base position optimization of mobile construction robots for bricklaying task

Base position (BP) optimization is a fundamental problem for robotics applications in large-scale scenarios. Although BP-related issues have been extensively studied in various fields, it remains a challenge in the construction industry due to the difficulty for mobile construction robots (MCRs) to fully leveraging accurate and explicit environmental models and construction information. This work proposes a building information modeling (BIM)-based prototype that incorporates a novel building world modeling approach and an effective BP optimization method. The former can automatically generate robot-compatible building worlds and element coordinates from BIM. Based on the parsed BIM data, the latter can determine the optimal BPs with higher manipulability for the manipulator through a two-stage optimization method. Experiments demonstrate the proposed method's ability to efficiently model the building world, and identify optimal BPs solution with an average manipulability index (AMI) improvement of (Formula presented.) within limited time. This system uses BIM data to guide robotic construction, laying the foundation for improving construction productivity and pointing the way for on-site automated construction in real building scenarios.