Autonomous Navigation and Positioning of a Real-Time and Automated Mobile Robotic Welding System

摘要

In the US, the construction industry uses 40 million tons of steel annually, highlighting welding’s crucial role in safety and quality. However, problems with attracting young welders and addressing quality issues leading to rework persist. These issues underscore the necessity of developing an automated welding robot that can provide consistent quality welding. This paper presents a novel concept for a mobile robotic welding system by outlining a comprehensive system pipeline. This robot has an integrated unmanned ground vehicle (UGV) to facilitate seamless navigation across construction sites. Specifically, the paper describes a self-developed system capable of executing tasks such as joint detection, initial point alignment, path planning, tracking, and adjustment. The paper further explores the integration process of the UGV, encompassing mapping, navigation, and collision avoidance strategies. The effectiveness and precision of the proposed approach are validated through successful automated robotic welding tests, reinforcing its potential in real-world applications.