Environmental sensing in autonomous construction robots: Applicable technologies and systems

Abstract

Environmental sensing is crucial for the effective operation of mobile robots, particularly on construction sites where conditions can change rapidly. While some studies have implemented different sensing technologies independently for autonomous mobile robot navigation, comprehensive studies on applicable sensors and technologies for dynamic construction environments, particularly for enhancing productivity and safety, are lacking. To fill this gap, this paper provides a comprehensive review of environmental sensing technologies for mobile construction robots, assessing their strengths, weaknesses, and applicability in the dynamic construction environment. Utilizing a combination of scientometric analysis and a critical review, three themes—vision-based sensing, localization and mapping, and autonomous navigation and path planning, which form the main sensing systems for the operation of autonomous mobile robots—were identified and analyzed. The review also identified and evaluated the different sensor technologies that facilitate environmental sensing. This paper also highlights significant research gaps and provides recommendations for future research studies.