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.