Design and Simulation of Complete Coverage Indoor Robot Path Planning Algorithm Based on BIM
Publication: ICCREM 2022
ABSTRACT
As the carrier of building information, BIM has a wealth of indoor environmental information to plan path. This paper proposes a new design idea for the complete coverage path planning algorithm: use the IFC file to obtain the absolute coordinates of the building component, and then realize grid modeling of robots in building interior environments. On this basis, an improved BFS-based complete coverage path planning algorithm is designed to plan the robot’s coverage path offline through boundary coverage and dead zone escape. Finally, this paper designs a simulation test to verify the feasibility and robustness of the method, and the factors affecting the algorithm repetition rate and the true coverage rate are analyzed in detail. The results show that the real coverage is related to the size information loss during environmental modeling. The real coverage is stable above 90%, and the repetition rate is around 10%. The algorithm has good application prospects and can be applied to the path planning of intelligent construction processes, etc.
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ICCREM 2022
Pages: 305 - 314
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Published online: Dec 15, 2022
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