A Fast Path Planning Method for Single and Dual Crane Erections
Date Issued
2010
Date
2010
Author(s)
Chang, Yu-Cheng
Abstract
Cranes are essential equipment for lifting objects in construction projects. There are many challenges in an erection progress such as collision avoidance and retaining the safe weight loading. To ensure the safety of entire crane erection process, it needs a precise erection plan for crane operations. However, to have a good erection plan is a difficult task, which requires rich experience and many of the detailed considerations. Engineers need to consider the capacity of crane and avoid all the possible collisions during the erection.
Therefore this research aims at developing a method for automatically finding the erection path by utilizing the computer technology. The proposed method is composed of two steps: The first step is to convert the scene of crane erection into a configuration space, in which the capacity of the crane loading and the obstacles in the environment has been considered; The second step is to find a collision free path in the configuration space by using probabilistic road map (PRM) method.
We conducted three tests to validate the proposed method in this research: The first test and the second test are used to test the feasibility of the proposed planning method for single crane erections and dual crane erection, respectively; In the third test, we conducted two scenarios to test the efficiency of the proposed method and the operational effectiveness of generated path in dual crane erections. The result shows that the proposed method is efficient and can generate effective erection path for operating in near real-time. The method can be appropriately used for both single and dual crane erection, which can help engineers to easily plan and verify the erection strategies.
Subjects
construction crane
path planning
erection actively
dual crane
robotic
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