Dynamic Sampling and Control for Automated Road Pre-Marking Robot

• Published in: Journal of advanced computational intelligence and intelligent informatics Vol. 29; no. 4; pp. 921 - 930
• Main Authors: Wang, Meng, Zhu, Shiyun, Chen, Juexuan, Lu, Yutong, Zhu, Lang, Lv, Xue
• Format: Journal Article
• Language: English
• Published: Tokyo Fuji Technology Press Co. Ltd 20.07.2025
• Subjects: Autonomous navigation; Autonomy; Curvature; Marking; Real time; Road construction; Roads & highways; Robots; Sampling; Spray painting
• ISSN: 1343-0130; 1883-8014
• DOI: 10.20965/jaciii.2025.p0921

This study introduces a specialized pre-marking robotic system that boasts a high degree of autonomy in response to low efficiency and inaccuracy in pre-marking operations for road delineations on newly constructed roads. The system is designed for autonomous navigation and precise spray-painting of road markings. It employs dynamic point sampling technology, enabling continuous and real-time acquisition of road coordinate information, thereby significantly improving pre-marking efficiency. A three-point circle correction method is implemented to generate the robot’s target path that includes curvature information. A curvature-adaptive pure pursuit control strategy is executed to ensure high-precision tracking of the pre-marking robot along the target path. Simulation experiments have confirmed the effectiveness and reliability of the robotic system. Practical applications reveal a marking error of less than 1.5 cm in long curved road scenario and 2 cm in right-angle curve road scenario. This result achieves efficient and accurate pre-marking operations and provides substantial technical support for road construction and maintenance.