International Conference on Construction and Real Estate Management 2020
Lifting Path Planning of Mobile Cranes Based on RRT Algorithm
Publication: ICCREM 2020: Intelligent Construction and Sustainable Buildings
ABSTRACT
Lifting operations of mobile cranes are always based on the experience of operators, leading to low efficiency as well as high accident rate because of the dynamic and complex construction environment. Thus, there is a strong need to develop an appropriate approach to guide the crane operations. In this paper, an improved rapidly-exploring random tree (RRT) algorithm is proposed for the automated lifting path planning of mobile crane. Considering the critical role of nearest neighbor search (NNS) in the implementation of RRT algorithm, an improved strategy consisted of generalized distance method and cell method for searching the nearest neighbor is developed. Both two methods have been tested in simulation-based experiments, with obvious improvements in computing time, number of nodes, and frequency of collision. Therefore, this improved RRT algorithm enables the rapid path planning of mobile cranes in a dynamic and complex construction environment, making it possible to enhance the efficiency and safety in crane lifting practices.
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ACKNOWLEDGMENTS
We would like to thank the National Natural Science Foundation of China (Grant No. 51578318, 51208282) as well as Tsinghua University-Glodon Joint Research Centre for Building Information Model (RCBIM) for supporting this research. In addition, we would also like to thank Zhubang Luo for his assistance in computer engineering.
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Published In
ICCREM 2020: Intelligent Construction and Sustainable Buildings
Pages: 22 - 29
Editors: Yaowu Wang, Ph.D., Harbin Institute of Technology, Thomas Olofsson, Ph.D., Luleå University of Technology, and Geoffrey Q. P. Shen, Ph.D., Hong Kong Polytechnic University
ISBN (Online): 978-0-7844-8323-7
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© 2020 American Society of Civil Engineers.
History
Published online: Oct 14, 2020
Published in print: Oct 14, 2020
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