Task and Path Planning for Wall-Climbing Construction Robots

Wall-climbing robots for façade construction operate in environments that change continuously as work progresses. This paper presents a hierarchical planning framework that decomposes façade tasks into work cells, allocates them among multiple robots, and generates collision-free climbing paths under kinematic and adhesion constraints.

问题

外墙作业机器人在施工过程中面临环境持续变化、作业面不平整与附着约束等挑战，单一层级的规划方法难以兼顾任务分配效率与运动可行性。

方法

提出分层规划框架：

1. 任务层：将外墙作业面划分为作业单元，基于工作量与机器人能力进行多机任务分配；
2. 路径层：在运动学与附着约束下生成无碰撞的攀爬路径；
3. 执行层：根据实时感知结果进行局部重规划。

结论

在仿真与实物平台上的实验中，所提方法较基线方法减少约 23% 的完工时间，且在多机场景下的冲突次数显著降低。

@inproceedings{J.Wu20252025-rob,
  title   = {Task and Path Planning for Wall-Climbing Construction Robots},
  author  = {J. Wu and W. Li},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year    = {2025},
  doi     = {10.1109/ICRA.2025.100004},
}