Planning and navigation of pictobot (wall painting robot)

Abstract

In Singapore, the demand for newly build houses or HDB is expected to grow for the next few years. On the contrary, Singapore is facing labor shortage issue as its population is aging. The phrase “more jobs, less workers” is best to describe the current condition. In construction, the tasks given to the workers are usually repetitive and time consuming. As such, it is suitable to use robot to perform some of the construction tasks to solve these issues including the “more jobs, less workers” issue. This project is to implement a navigation system to the existing wall painting robot. In this report, we present the methods used for the navigation of the wall painting robot together with the suggested workflow for the robot. Besides, the result of each method is also presented in this report. After the implementation of the system, it is expected for the robot to be able to generate map, localize itself, plan path for navigation, do wall following and self-parking.