Title: Detection and assembly of components based on automatic obstacle avoidance algorithm and BIM

Authors: Xuan Deng

Addresses: Construction Engineering Team, Guangxi Vocational & Technical Institute of Industry, Nanning, Guangxi, China

Abstract: To improve the assembly effect of buildings, a component detection and assembly method based on automatic obstacle avoidance and BIM building information model is proposed. After constructing the kinematic model of robot arm using BIM, the improved RRT algorithm and the improved YOLOv5 network are respectively utilised for the automatic obstacle avoidance of robot arm and accurate detection of pre-components. The results show that after the integration of the two algorithms, the obstacle avoidance accuracy and detection accuracy of building components have been significantly improved. The collaboration of the two methods can further improve the actual construction efficiency of prefabricated building components, and reduce construction costs, thus achieving the maximisation of construction benefits.

Keywords: BIM; automatic obstacle avoidance; detection of building prefabricated component; RRT algorithm; YOLOv5 network.

DOI: 10.1504/IJWMC.2026.153171

International Journal of Wireless and Mobile Computing, 2026 Vol.30 No.3, pp.277 - 289

Received: 10 Dec 2024
Accepted: 20 Jun 2025
Published online: 25 Apr 2026 *

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