移动式起重机吊装路径智能规划方法研究

移动式起重机的吊装路径规划（Path Planning of Mobile Crane,PPMC）是吊装活动的重要支撑,而当前吊装规划通常依据项目经理或吊车操作员的经验,难以适应施工现场环境的动态性和复杂性。为了提高移动式起重机的吊装规划成效,对其路径规划问题进行了重新定义与建模,提出了基于 RRT（Rapidly-exploring Random Tree）寻径算法的智能规划方法,即 C（Configuration）空间预优化—RRT 算法改进—路径后处理的优化框架和对应的具体优化策略。并通过案例测试验证了优化策略的可行性和有效性。这有利于移动式起重机路径规划改善效果,提高效率。

An Approach for Intelligent Lifting Path Planning of Mobile Cranes

Path planning of mobile cranes（PPMC）is vital for lifting activity on construction sites. Lifting path planning isconventionally conducted by operators or project managers based on their experience. However,due to the dynamics and complexityof construction sites,the traditional method often results in inefficient,inflexible and unsafe lifting operations. To improve thesituation,this paper redefines and models the question - PPMC,and proposes a Rapidly-exploring Random Tree（RRT）- orientedoptimization approach,involving the pre-optimization of Configuration-space（C-space）,RRT improvement,and pathpost-processing. Furthermore,some tests for this approach are conducted. It is shown that the proposed approach is feasible and moreefficient than traditional methods. This will improve the effectiveness and efficiency of lifting path planning of mobile cranes.