移动式起重机吊装路径智能规划方法研究  

An Approach for Intelligent Lifting Path Planning of Mobile Cranes

作　　者：郭红领[1] 张恩东 GUO Hong-ling;ZHANG En-dong(Department of Construction Management,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华大学建设管理系,北京100084

出　　处：《工程管理学报》2018年第6期115-120,共6页Journal of Engineering Management

基　　金：国家自然科学基金面上项目(51578318;51208282)

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

关 键 词：移动式起重机 吊装路径规划 RRT C空间 

分 类 号：TU61[建筑科学—建筑技术科学]