BIM-based task and motion planning prototype for robotic assembly of COVID-19 hospitalisation light weight structures

https://doi.org/10.1016/j.autcon.2022.104370Get rights and content

Highlights

  • Propose a robot assembly method for COVID-19 hospitalisation facilities.

  • Develop a task and motion planning algorithms for robot assembly.

  • The task planning algorithm determines prefabricated components' assembly sequence.

  • The motion planning algorithm computes kinematic parameters for robotic assembly.

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.

Keywords

Building information modelling
Robotic construction
Hospitalisation facility
COVID-19 pandemic
Motion planning

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