3.3 Navigation and positioning technology
The mobile construction robot provides path planning according to
genetic, ant and other algorithms, and moves to the target position
safely with the assistance of corresponding sensors. The navigation and
positioning technology is the key to realizing whether the construction
robot can jump out of the dead corner, avoid obstacles and accurately
locate. For example, Ugur Yayan et al. (2015) developed an indoor
navigation and positioning system based on ultrasound, which used the
time difference between the ultrasonic transmitter and receiver of the
P3-DX mobile robot to judge the moving position. Through testing, the
robot could achieve centimeter-level positioning accuracy. Jungmin Kim
et al. (2014) improved the original laser navigation system and added
the UKF sensor of fusion encoder and gyroscope on the basis of the
original, which could effectively improve the navigation and positioning
accuracy.