Built-in guide 타입 다중 로봇의 고층 빌딩 외벽 청소를 위한 센서 기반 운동 계획 알고리즘

Sensor-based Motion Planning Algorithm for High-rise Building Facade Cleaning of Built-in Guide Type Multi-Robot

  • 이승훈 (한양대학교 기계공학과) ;
  • 김동형 (한양대학교 기계공학과) ;
  • 강민성 (한양대학교 메카트로닉스 공학과) ;
  • 길명수 (한양대학교 메카트로닉스 공학과) ;
  • 김영수 (한양대학교 메카트로닉스 공학과) ;
  • 백성훈 (한양대학교 메카트로닉스 공학과) ;
  • 한창수 (한양대학교 기계공학과)
  • 투고 : 2012.02.26
  • 심사 : 2012.03.27
  • 발행 : 2012.05.01


With the increasing number of high-rise and large-scale buildings, modern buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building's outer-wall glass is proposed; Kalman filter was used for estimating robots' status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.


연구 과제 주관 기관 : 국토해양부, 지식경제부


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피인용 문헌

  1. Overview of Design for Maintainability in Building and Construction Research vol.32, pp.1, 2018,