UMTR: An unmanned material transport robot designed for construction Sites

This paper proposes an autonomous material transportation system tailored for construction sites. The system comprises an unmanned material transport robot and a scheduling platform for coordinated control with other systems. A modular navigation planner is developed for point-to-point material transport tasks, enabling near-road navigation with limited deviation through integrated perception, global planning, local planning, and adaptive control. In addition, a rule-based hierarchical finite state machine is developed to execute the complete material transportation workflow. Compared with manual delivery, the proposed system achieves a 176.31% improvement in transportation efficiency. In terms of navigation performance, the planner demonstrates superior compliance with construction site specifications, along with enhanced planning stability and efficiency compared to conventional algorithms.