FOV-based Optimal Positioning and Path Planning of Quadruped Robot for Construction Site Monitoring

Hwa Sung Jang; Si On Min; Yong Chan Lee; Jae Hun Sim; Jin Gang Lee

doi:10.55785/JCAR.5.3.1

All Issue

2026 Vol.5, Issue 3 Next Page

Research Article

FOV-based Optimal Positioning and Path Planning of Quadruped Robot for Construction Site Monitoring 건설현장 모니터링을 위한 사족보행 로봇의 화각 기반 촬영 위치 및 경로 최적화 방법론

30 September 2026. pp. 1-7

PDF XML

Abstract

This study proposes a methodology for developing optimal positioning and path planning of a quadruped robot, addressing the operational inefficiency caused by unplanned exploration and redundant movement during 3D spatial data acquisition at construction sites. A closed-form expression for the minimum shooting distance that guarantees full capture of a target within the camera frame was derived from the width and height of the target, the camera field of view, and the minimum safety clearance of the robot. These positions were then treated as waypoints in a multi-waypoint path optimization scheme combining the A* algorithm with the dynamic programming-based Held-Karp algorithm. The methodology was pre-validated in a BIM-based Unity simulation and demonstrated indoors at a university building using a quadruped robot (Unitree Go2). The experimental results demonstrated that, in this case study, the proposed approach achieved improvements in travel distance, travel time, and re-planning frequency compared to the built-in autonomous navigation during the 3D mapping task, and the route generated by the proposed algorithm matched the most efficient path among candidate visiting orders in the multi-waypoint shooting task.

Keywords

Construction Site Monitoring

Quadruped Robot

Path Optimization

A* Algorithm

Held-Karp Algorithm

본 연구는 로봇을 활용한 건설현장 모니터링 시 발생하는 무계획적 탐색과 중복 이동에 따른 운용 비효율성을 해결하기 위해, 사족보행 로봇의 촬영 위치 및 경로 최적화 방법론을 제안한다. 이는 촬영 대상의 폭·높이, 카메라 화각, 로봇의 최소 안전거리로부터 대상을 화면에 온전히 포착하는 최소 촬영거리를 산정하고, 이를 경유지로 삼아 A* 알고리즘과 Held-Karp 알고리즘을 통해 최적 경로를 도출한다. 제안한 방법론의 효과를 검증하기 위해, BIM기반 시뮬레이션을 수행하고, 대학 건물 실내에서 사족보행 로봇(Unitree Go2)을 이용해 실증하였다. 제안한 방법론으로 도출한 경로로 이동했을 때, 사족보행 로봇을 활용한 3D 공간지도 데이터를 수집하는 데 필요한 이동거리·주행시간·경로 재탐색 횟수 측면에서 기본 자율주행 방식 대비 개선 효과를 나타내었다. 또한, 복수 경유지 촬영 작업에서도 제안 알고리즘이 산출한 경로가 후보 동선 중 가장 효율적인 경로와 일치하는 결과를 확인하였다.

키워드

건설현장 모니터링

사족보행 로봇

경로 최적화

A* 알고리즘

Held-Karp 알고리즘

References

Becker, K., Oehler, M., and von Stryk, O. (2022). 3D coverage path planning for efficient construction progress monitoring. Proc. of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Seville, Spain, pp. 174-179. https://doi.org/10.1109/SSRR56537.2022.10018726

10.1109/SSRR56537.2022.10018726

Becoy, A. J., Khomenko, K., Peternel, L., and Rajan, R. T. (2025). Autonomous navigation of quadrupeds using coverage path planning with morphological skeleton maps. Frontiers in Robotics and AI, 12, Article 1601862. https://doi.org/10.3389/frobt.2025.1601862

10.3389/frobt.2025.160186240822440PMC12351651

Chen, L.-Z., Gao, J., Chen, Y., Cheng, K. L., Sun, Y., Hu, L., Xue, N., Zhu, X., Shen, Y., Yao, Y., and Xu, Y. (2026). Geometric context transformer for streaming 3D reconstruction. arXiv,https://arxiv.org/abs/2604.14141 (Accessed August 31, 2026).

10.1007/978-3-032-37467-7_17

Chen, Z., Song, C., Wang, B., Tao, X., Zhang, X., Lin, F., and Cheng, J. C. P. (2025). Automated reality capture for indoor inspection using BIM and a multi-sensor quadruped robot. Automation in Construction, 170, Article 105930. https://doi.org/10.1016/j.autcon.2024.105930

10.1016/j.autcon.2024.105930

Everett, J. G., and Slocum, A. H. (1994). Automation and robotics opportunities: construction versus manufacturing. Journal of Construction Engineering and Management, 120(2), pp. 443-452. https://doi.org/10.1061/(ASCE)0733-9364(1994)120:2(443)

10.1061/(ASCE)0733-9364(1994)120:2(443)

Galceran, E., and Carreras, M. (2013). A survey on coverage path planning for robotics. Robotics and Autonomous Systems, 61(12), pp. 1258-1276. https://doi.org/10.1016/j.robot.2013.09.004

10.1016/j.robot.2013.09.004

Ham, Y., Han, K. K., Lin, J. J., and Golparvar-Fard, M. (2016). Visual monitoring of civil infrastructure systems via camera-equipped unmanned aerial vehicles (UAVs): a review of related works. Visualization in Engineering, 4(1), Article 1. https://doi.org/10.1186/s40327-015-0029-z

10.1186/s40327-015-0029-z

Hart, P. E., Nilsson, N. J., and Raphael, B. (1968). A formal basis for the heuristic determination of minimum cost paths. IEEE Transactions on Systems Science and Cybernetics, 4(2), pp. 100-107. https://doi.org/10.1109/TSSC.1968.300136

10.1109/TSSC.1968.300136

Held, M. and Karp, R. M. (1962). A dynamic programming approach to sequencing problems. Journal of the Society for Industrial and Applied Mathematics, 10(1), pp. 196-210. https://doi.org/10.1137/0110015

10.1137/0110015

Kakhkharov, A., Kim, J.-W., and Choi, J.-H. (2026). Quadruped robots in construction automation: a comprehensive review of applications, localization, and site-level operations. Buildings, 16(5), Article 962. https://doi.org/10.3390/buildings16050962

10.3390/buildings16050962

Tuomisto, J., Zheng, Y., Chauhan, I., Seppänen, O., and Pajarinen, J. (2026). Automating on-site object inspection with a quadruped robot and BIM. Automation in Construction, 181, Article 106571. https://doi.org/10.1016/j.autcon.2025.106571

10.1016/j.autcon.2025.106571

Information

Publisher :Korean Society of Automation and Robotics in Construction
Publisher(Ko) :(사)한국건설자동화·로보틱스학회
Journal Title :Journal of Construction Automation and Robotics
Journal Title(Ko) :건설자동화·로보틱스 논문집
Volume : 5
No :3
Pages :1-7
Received Date : 2026-09-02
Revised Date : 2026-09-21
Accepted Date : 2026-09-29
DOI :https://doi.org/10.55785/JCAR.5.3.1

Journal of Construction Automation and Robotics ISSN:2800-0552(Print) 2951-116X(Online) 건설자동화·로보틱스 논문집

All Issue