Title Development of an Optimal Trajectory Planning Algorithm for Automated Pavement Crack Sealer
Authors Yoo, Hyun-Seok ; Lee, Jeong-Ho ; Kim, Young-Suk
Page pp.68-79
ISSN 1229-7534
Keywords Crack Sealing ; Machine Vision Algorithm ; Trajectory Planning ; Construction Automation
Abstract During the last two decades, several tele-operated and machine-vision-assisted systems have been developed in construction and maintenance area such as pavement crack sealing, sewer pipe rehabilitation, and excavation. In developing such tele-operated and machine-vision-assisted systems, trajectory plans are very important tasks for optimal motions of robots whether their environments are structured or unstructured. This paper presents an optimal trajectory planning algorithm used for a machine-vision-assisted automatic pavement crack sealing system. In this paper, the performance of the proposed optimal trajectory planning algorithm is compared with the greedy trajectory plans which are used in previously developed pavement crack sealing systems. The comparison is based on computational cost versus overall gains in crack sealing efficiency. Finally, it is concluded that the proposed algorithm plays an important role in productivity improvement of the automatic pavement crack sealing system developed.