Path planning for crawler crane using RRT*

Authors:
Yuanshan Lin;Di Wu;Xin Wang;Xiukun Wang;Shunde Gao
Affiliations:
School of Computer Science, Dalian University of Technology, Dalian, Liaoning, P.R. China;School of Computer Science, Dalian University of Technology, Dalian, Liaoning, P.R. China;School of Mechanical Engineering, Dalian University of Technology, Dalian, Liaoning, P.R. China;School of Computer Science, Dalian University of Technology, Dalian, Liaoning, P.R. China;School of Mechanical Engineering, Dalian University of Technology, Dalian, Liaoning, P.R. China
Venue:
ICICA'12 Proceedings of the Third international conference on Information Computing and Applications
Year:
2012

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Abstract

Lift path planning is a key subtask in preparing lift plan. Many researchers have concerned the topic of automated path planning for crane lifts. Previous studies provided some exact approaches or optimization methods to solve the problem. However, these approaches failed when they handle the problem with high DOFs. Due to this, this paper presents an approach for automated path planning of crawler crane using RRT*. The experimental case indicates that the proposed algorithm can handle lift path planning problem with high DOFs and effectively find a safe path in complex lifting environment.