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Journal ArticleDOI

Automated Path Planning of Cooperative Crane Lifts Using Heuristic Search

01 Jul 2003-Journal of Computing in Civil Engineering (American Society of Civil Engineers)-Vol. 17, Iss: 3, pp 197-207
TL;DR: In this article, a computer-aided path planner for two crane lifts is presented, based on the type of movement of cooperative cranes in synchronous or asynchronous manner and the presence of trapping space.
Abstract: The use of cooperative cranes can improve the cost effectiveness of heavy lift operations. However, the complexity in developing a reliable lift plan prevents the widespread use of cooperative crane lifts. The availability of a computer-aided planning system can improve planning efficiency and reliability. Path planning is an important subtask of the lift planning process. This paper presents work done to develop a computer aided path planner for two crane lifts. Two heuristic search methods, hill climbing and A*, were implemented for automating the path-planning task. Search space was represented using the concept of configuration space. The effec- tiveness of the search methods was evaluated by solving three problems with increasing levels of complexity. The formulation of these problems was based on the type of movement of cooperative cranes ~in synchronous or asynchronous manner! and the presence of trapping space. It was found that while the hill climbing approach found feasible paths in a few seconds or minutes, these paths were far from optimal in situations containing trapping space. In contrast, the A * search resulted in near optimal paths, but the execution time was of the order of hours.
Citations
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Journal ArticleDOI
Ya-Hong Lin1, Yu-Shen Liu1, Ge Gao1, Xiao-Guang Han1, Chengyuan Lai1, Ming Gu1 
TL;DR: This paper introduces a new method to cope with path planning for 3D indoor space through an IFC (Industry Foundation Classes) file as input, and aims to process different kinds of building components and their corresponding properties to obtain rich semantic information that can enhance applications of path planning.

152 citations


Cites methods from "Automated Path Planning of Cooperat..."

  • ...Therefore, it becomes important to develop a reliable method that can enhance applications of path planning by combining both geometric and semantic information of building components....

    [...]

Journal ArticleDOI
TL;DR: In this paper, the authors present a virtual crane model and motion-planning algorithms that enable them to find collision-free and time-efficient paths for each piece that needs to be erected and determine the crane motions required to move elements in previously computed paths.

124 citations


Cites methods from "Automated Path Planning of Cooperat..."

  • ...Ali et al. [31] and Sivakumar et al. [ 17 ] used a motion-planning algorithm to assist a cooperative lifting plan....

    [...]

Journal ArticleDOI
TL;DR: In this article, a new approach for automated path planning of cooperative crane manipulators using a genetic algorithm (GA) is presented, where the inverse kinematic problem is defined as an optimization problem and solved using GA, and the GA approach finds a near-optimal path with lower path cost and less computational time than earlier heuristic searches.
Abstract: This paper presents a new approach for automated path planning of cooperative crane manipulators using a genetic algorithm (GA). The inverse kinematic problem, i.e., determining the joint angle configuration for the cooperative crane manipulator system in moving the object from pick location to place location, is defined as an optimization problem and solved using GA. For generating the collision-free path, GA with an interference detection algorithm is employed and search is made in the manipulator joint angle space (configuration space). The effectiveness of the proposed approach for automated path planning is demonstrated by comparing the performance of the present approach with the earlier heuristic search proposed by Sivakumar et al. The GA approach finds a near-optimal path with lower path cost and less computational time than earlier heuristic searches.

120 citations

Journal ArticleDOI
TL;DR: In this paper, a conceptual framework of adopting virtual prototyping (VP) technology to aid in construction safety management is developed, which consists of three components: modelling and simulation, the identification of unsafe factors, and safety training.

96 citations

Journal ArticleDOI
TL;DR: This research proposes a motion planning algorithm to efficiently generate safe and smooth paths for crane motions while taking into account engineering constraints and the path quality, and is the first time that dual-tree RRT algorithms have been applied to crane motion planning.

94 citations

References
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Book
01 Jan 1990
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Abstract: 1 Introduction and Overview.- 2 Configuration Space of a Rigid Object.- 3 Obstacles in Configuration Space.- 4 Roadmap Methods.- 5 Exact Cell Decomposition.- 6 Approximate Cell Decomposition.- 7 Potential Field Methods.- 8 Multiple Moving Objects.- 9 Kinematic Constraints.- 10 Dealing with Uncertainty.- 11 Movable Objects.- Prospects.- Appendix A Basic Mathematics.- Appendix B Computational Complexity.- Appendix C Graph Searching.- Appendix D Sweep-Line Algorithm.- References.

6,186 citations

Journal ArticleDOI
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Abstract: This paper describes a collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects. The algorithm transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object. A trajectory of this reference point which avoids all forbidden regions is free of collisions. Trajectories are found by searching a network which indicates, for each vertex in the transformed obstacles, which other vertices can be reached safely.

2,396 citations

Journal ArticleDOI
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
Abstract: This paper presents algorithms for computing constraints on the position of an object due to the presence of ther objects. This problem arises in applications that require choosing how to arrange or how to move objects without collisions. The approach presented here is based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object. The configurations forbidden to this object, due to the presence of other objects, can then be characterized as regions in the configuration space, called configuration space obstacles. The paper presents algorithms for computing these configuration space obstacles when the objects are polygons or polyhedra.

1,996 citations

Book
01 Jul 1990
TL;DR: Algorithms for computing constraints on the position of an object due to the presence of ther objects, which arises in applications that require choosing how to arrange or how to move objects without collisions are presented.

1,641 citations

Journal ArticleDOI
TL;DR: This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments.
Abstract: Motion planning is one of the most important areas of robotics research. The complexity of the motion-planning problem has hindered the development of practical algorithms. This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments. The general issues in motion planning are explained. Recent approaches and their performances are briefly described, and possible future research directions are discussed.

909 citations