Optimized Mobile Crane Path Planning in Discretized Polar Space

Ensuring the safety and efficiency of crane operation is challenging due to the complexity of the lifting operation. The real-time lifting path planning system developed in this paper aims to provide an optimized, collision-free lifting path for mobile crane operators. The first contribution of the developed system is to take advantage of crane mounted sensors and components as the hardware to collect object information. No additional device needs to be purchased. Secondly, the data storage, path planning, optimizing, and visualizing functions are designed to minimize the required computer memory so that the system can be installed and applied on the crane mounted controller for real-time operation. No additional calculation capacity is required. This system has been tested in real construction sites and demonstrated its ability to generate lifting paths satisfying operators’ expectation. The system, as an independent software package, can be installed on any mobile cranes mounted with the necessary hardware.

Download Full-text

Heavy mobile crane lift path planning in congested modular industrial plants using a robotics approach

Automation in Construction ◽

10.1016/j.autcon.2020.103508 ◽

2021 ◽

Vol 122 ◽

pp. 103508

Author(s):

Navid Kayhani ◽

Hosein Taghaddos ◽

Ali Mousaei ◽

Saeed Behzadipour ◽

Ulrich Hermann

Keyword(s):

Path Planning ◽

Industrial Plants ◽

Mobile Crane

Download Full-text

2A2-G07 Autonomous Mobile Crane System Considering On-line Obstacle Recognition and Path Planning

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2007._2a2-g07_1 ◽

2007 ◽

Vol 2007 (0) ◽

pp. _2A2-G07_1-_2A2-G07_4

Author(s):

Akihiro KANESHIGE ◽

Kazuhiko TERASHIMA

Keyword(s):

Path Planning ◽

On Line ◽

Mobile Crane

Download Full-text

The Development of an Autonomous Mobile Crane System Considering On-Line Obstacle Recognition and Path Planning

International Journal of Automation Technology ◽

10.20965/ijat.2008.p0131 ◽

2008 ◽

Vol 2 (2) ◽

pp. 131-140 ◽

Cited By ~ 6

Author(s):

Akihiro Kaneshige ◽

◽

Shigeo Hasegawa ◽

Kazuhiko Terashima ◽

Keyword(s):

Control System ◽

Path Planning ◽

Visual System ◽

Potential Field ◽

Notch Filter ◽

Planning Method ◽

Planning System ◽

On Line ◽

Mobile Crane ◽

Line Path

The purpose of this paper is to present a method to establish an autonomous mobile crane system which includes on-line obstacle recognition, path planning by on-line and suppression of sway of the transferred object. The system consists of three different parts: a visual system, a planning system and a control system. In the visual system, ultra sonic sensor is used to renew small part of environmental map during the transferring taking advantage of quick scanning time. In the planning system, proposed on-line path planning method is used in an artificial potential field based on the solution of the Laplacian differential equation. This path planning method can correspond to minor changes in the transportation environment during transportation. The on-line path planning has been accomplished by regenerating the updated potential field. In the control system, feed-forward controller by means of notch filter is used to achieve the suppression of sway of the transferred object. Finally, the usefulness of the proposed method is confirmed by simulations and experiments.

Download Full-text