Novel hoisting action planning method for crane
A technology of cranes and crawler cranes, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as poor path quality, high path cost, and long planning time
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[0033] The RRT-Connect planning method is one of the widely used RRT variants. This embodiment compares the data obtained by the proposed method with the data obtained by the RRT-Connect method in the same hoisting operation to illustrate the planning results of this method The improvement of the path cost (path length) of the action sequence, planning time, path circuitity, and collision detection times.
[0034] In this embodiment, the crane needs to hoist the object to be hoisted outside the steel frame, from the entrance of the two rows of steel frames to between the steel frames, and place the object to be hoisted on the target steel frame by turning, walking, etc. The steel trusses are close together, and the density of obstacles is relatively high. In this process, collisions must be avoided in particular. The results of a certain planning obtained by applying the RRT-Connect method and the proposed method are shown in Figure 5. Among them, the upper curve represents the m...
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