Construction robot path-planning for earthwork operations

Sung Keun Kim, Jeffrey S. Russell, Kyo Jin Koo

Research output: Contribution to journalArticlepeer-review

36 Scopus citations


In developing an intelligent mobile construction robot, a navigation system that can provide an effective and efficient path-planning algorithm is a very important element, The purpose of a path-planning method for a mobile construction robot is to find a continuous collision-free path from the initial position of the construction robot to its target position. This paper presents an improved Bug-based algorithm, called SensBug, which can produce an effective path in an unknown environment with both stationary and movable obstacles. The contributions, which make it possible to generate an effective and short path, are an improved method to select local directions, a reverse mode, and a simple leaving condition. Some emerging technologies that can be used for implementing an intelligent construction robot are introduced in this paper.

Original languageEnglish
Pages (from-to)97-104
Number of pages8
JournalJournal of Computing in Civil Engineering
Issue number2
StatePublished - Apr 2003


  • Automation
  • Construction planning
  • Earthwork
  • Robotics


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