摘要

在建筑施工的混凝土抹平作业中，机器人能够显著减少工作量并提高自动化水平。然而，作为抹平作业覆盖路径规划（CPP）的一项核心任务，在复杂场景中判定抹平区域或感兴趣区域（AOI）仍面临挑战，对于工作模式更为复杂的摆臂式机器人而言尤其如此。为此，本研究提出了一种适用于摆臂式抹平机器人的感兴趣区域界定算法（SatAOI 算法）。通过分析机器人与障碍物地图的特性，建立了数学模型和碰撞原理。在此基础上，SatAOI 算法通过全局搜索和碰撞检测实现感兴趣区域的界定。在不同障碍物地图上进行的实验表明，该算法能够在不同复杂程度的场景中有效界定感兴趣区域，且能充分考虑障碍物地图的连通性。相关成果为摆臂式抹平机器人的覆盖路径规划算法及全流程仿真奠定了基础。

In concrete troweling for building construction, robots can significantly reduce workload and improve automation level. However, as a primary task of coverage path planning (CPP) for troweling, delimitating area of interest (AOI) in complex scenes is still challenging, especially for swing-arm robots with more complex working modes. Thus, this research proposes an algorithm to delimitate AOI for swing-arm troweling robot (SatAOI algorithm). By analyzing characteristics of the robot and obstacle maps, mathematical models and collision principles are established. On this basis, SatAOI algorithm achieves AOI delimitation by global search and collision detection. Experiments on different obstacle maps indicate that AOI can be effectively delimitated in scenes under different complexity, and the algorithm can fully consider the connectivity of obstacle maps. This research serves as a foundation for CPP algorithm and full process simulation of swing-arm troweling robots.

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This research was funded by the National Key R&D Program of China (grant No. 2023YFC3805800), the project “Research on Key Technologies for Mechanized Construction of Substation Civil Engineering” of “Technology project funding from State Grid Corporation of China” (project No. 5200-202311481A3-2-ZN) and the project “Constructing a theoretical system for sustainable development strategy of construction enterprises with digital platforms as the core” from China Construction Third Engineering Bureau Beijing Co., Ltd

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