Autonomous task-planning is a major phase within the systemic approach towards robotized performance of interior-finishing building tasks. This paper presents mathematical formulations and offers near optional solutions for three hierarchical levels of the task planning procedure. The macro-level deals with the robot's travelling among multiple rooms on a building floor. This is determined by the application of the well known "Travelling Salesman's Problem (TSP)" algorithm, in which each node on the network represents a room, and each arc represents a door between two rooms. The next main level deals with the near-optimal positioning and routing of the robot among workstations within a room. A original algorithm was developed to minimize the total cost through dynamic programming by a recursive solution. The last, micro-level of pre-planning the exact path of the tool from each workstation is briefly presented.
|Title of host publication||Proceedings of the 11th International Symposium on Automation and Robotics in Construction|
|Number of pages||8|
|State||Published - 1994|