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论文类型：期刊论文

发表时间：2012-01-01

发表刊物：Journal of Convergence Information Technology

收录刊物：Scopus

卷号：7

期号：22

页面范围：219-226

ISSN号：19759320

摘要：The mobility is an important characteristic of crawler crane and usually is used to complete some difficult lift tasks in many construction projects. However, previous studies for Lift path planning did not concern the characteristic. To this end, this paper presents an approach for automated path planning of crawler crane, in which its mobility is taken accounted. In this paper, we improve the original RRT* and develop the Steer operation for crawler crane. Besides, the definitions of the Cspace, metric in C-space and path length are presented. Finally, one validation experiment and one efficiency test are conducted to verify the effectiveness and the efficiency of the proposed method. The results indicate that the proposed algorithm can handle lift path planning problem with high DOFs and effectively find a safe path in complex lifting environment.