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Motion Planning for Tower Crane Operation

Motion Planning for Tower Crane Operation. Motivation. Tower crane impacts the schedule greatly Safety of tower crane operation is critical. Major Challenges. Schedule Predict? Guess? Special Projects Complex projects Fast-track projects Critical working space constrains. T2. T4.

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Motion Planning for Tower Crane Operation

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  1. Motion Planning for Tower Crane Operation

  2. Motivation • Tower crane impacts the schedule greatly • Safety of tower crane operation is critical

  3. Major Challenges • Schedule • Predict? Guess? • Special Projects • Complex projects • Fast-track projects • Critical working space constrains

  4. T2 T4 Tower Crane Operation Secure structure element to hook T3 T1 Move piece from original location to final position Holding time Repositioning of crane to next piece

  5. The Crane

  6. β z γ y α x Θ1 d2 d3 Θ4 {H} {B} Configure Space vs World Space

  7. Goal Init Planning Algorithm (RRT) While (MaxStep is not reached)1. Expand Tree_1 (init) & Tree_2 (goal)2. Connect check if connected, then Generate a Path else goto 1. Expand:1. Create a random node 2. find nearest node3. try to add nearest node to tree4. try to add the random node the tree Connect:1. Can the new added nodes See any of the nodes from another tree? (collision detection as a straight line)

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