# Automatic Creation of Heuristic-Based Truck Movement Paths for Construction Equipment Control
## 1 Introduction  
The fourth industrial revolution era demands rapid developments in many sectors, including the construction industry. Automation research is actively conducted in various fields such as the manufacturing sector and the computer sector. Construction is also undergoing a period of change, as technologies such as drones, BIM (building information modeling), GPS (global position system), and sensors develop. However, construction shows relatively low productivity compared to higher productivity in the field of manufacturing. In addition, despite technological advances, human casualties related to the construction industry continue to rise; it has been reported that human casualties occur four times more frequently in construction than in other industries. Among them, construction equipment-related accidents at U.S. construction sites account for about 25 percent of the total [1] and, according to the Korea Occupational Safety and Health Agency, the number of deaths in construction is around 500 in the country. Around the world, policies to improve construction productivity and safety by applying fourth industrial revolution-related technologies are being pursued. In the UK, construction 2025 [2] aims to reduce construction periods by 50% and increase construction productivity by 20% by 2025 [3]. Singapore came up with the Construction Productivity Roadmap [4] to improve construction productivity by 2-3% every year, and the Ministry of Land, Infrastructure, and Transport in Korea announced the sixth Basic Construction Technology Promotion Plan to increase construction productivity by 40% and improve safety by 2022. Continuous efforts to improve smart construction technologies are being carried out, and their main purpose is to develop smart technologies such as artificial intelligence, BIM, robots, IoT (Internet of things) sensor networks, and unmanned remote environments to enhance the productivity and safety of construction [5; 6; 7; 8; 9; 10; 11]. Smart construction technologydevelopment areas also include construction equipment automation and control technology [12; 13], road structure smart construction technology [14], smart safety integrated control technology [15; 16], and smart construction digital platforms [17]. BIM is a technology that forms the basis of digital construction, and it is presented to effectively create, integrate, manage, and recycle information generated during the entire life cycle of a structure. It is a technology that allows information to be shared continuously. Standards are established for compatibility of BIM data with smart construction, and some of the research can be found in [18; 19; 20]. Currently, BIM is considered a basic element of digital construction that is mainly applied to 3D visualization, design error review, constructability review, and quantity calculation. However, due to various limitations, the generated BIM model has its limits when used as a tool for smart construction in connection with construction equipment. Construction equipment automation and control technology was introduced into the construction industry because of worker safety, shortages of skilled workers, reduced productivity, and economic feasibility [21]. In the early days of construction automation equipment, it was mainly used to perform simple tasks by being used in a specific type of work. Recently, construction equipment in the form of multi-functional collaboration has been developed. However, the reason that much of the automation equipment used in actual construction sites is not available is that, unlike the standardized work environment in the manufacturing industry, the site conditions are greatly affected by the external environment and are highly variable. Currently, each country is developing a system composed of multiple types of construction equipment that can be linked to CAD/CAM systems during the construction stage [22].