A fast path planning method for single and dual crane erections
Resource
Automation in Construction, 22, 468-480
Journal
Automation in Construction
Pages
468-480
Date Issued
2012
Date
2012
Author(s)
Abstract
This research aims to develop a method for planning the erection path automatically and efficiently. The proposed method is comprised of two steps. The first step is to convert the scene of the crane erection into a configuration space, in which the crane's load capacity and the obstacles in the environment have been included. The second step is to find a collision-free path in the configuration space by using the probabilistic road map (PRM) method. Three tests were conducted to validate the action, crane placproposed method in this research. The results show that the proposed method is efficient, and can generate effective erection paths for operating in near real-time scenarios. The method is appropriate for both single and dual crane erection, and can help engineers plan more easily, and verify erection-planning decisions such as crane seleement, and logistcs. © 2011 Elsevier B.V. All rights reserved.
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Type
journal article
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