4.5 Article

Optimized Mobile Crane Path Planning in Discretized Polar Space

Journal

Publisher

ASCE-AMER SOC CIVIL ENGINEERS
DOI: 10.1061/(ASCE)CO.1943-7862.0002033

Keywords

Mobile crane; Path planning; Lift planning; Robotics in construction; Automation; Modular construction

Funding

  1. PCL Industrial Management Inc.
  2. Tecnosa RD Center

Ask authors/readers for more resources

The research presents an automated lift path planning system for mobile cranes, leveraging space discretization and an obstacle-avoidance technique from robotics. It efficiently finds the best feasible pick location and optimized collision-free lift path in the polar coordinate system, advancing crane path planning. The system demonstrates superiority over past similar path planning systems in terms of optimality and operational ease through illustrative examples.
Improper planning and management of heavy lifts is a major cause of cost overruns, delays, and, more importantly, safety incidents in industrial megaprojects. Automated lift planning is widely acknowledged as an effective solution. This research presents an automated lift path planning system for mobile cranes leveraging space discretization and an obstacle-avoidance technique from robotics. The proposed method treats the lifted object as a three-degree-of-freedom convex traveling through the surrounding environment [a given two-dimensional (2D) elevation] with discretized rotational and translational motions in polar coordinates. It efficiently finds the best feasible pick location and optimized collision-free lift path in the polar coordinate system to the set location. This system is a state-of-the art advancement in crane path planning because it mimics the crane's intrinsic behavior and generates paths considering cost functions for safety, practicality, and economic objectives to enable its implementation in real practice settings. Illustrative examples are presented to verify the proposed approach and demonstrate its superiority over past similar path planning systems in terms of optimality and operational ease.

Authors

I am an author on this paper
Click your name to claim this paper and add it to your profile.

Reviews

Primary Rating

4.5
Not enough ratings

Secondary Ratings

Novelty
-
Significance
-
Scientific rigor
-
Rate this paper

Recommended

No Data Available
No Data Available