Design of Path Planning System for Crane Lift

doi:10.3969/j.issn.1000-3428.2013.05.003

Computer Engineering ›› 2013, Vol. 39 ›› Issue (5): 12-17.

• Networks and Communications • Previous Articles Next Articles

Design of Path Planning System for Crane Lift

LIN Yuan-shan ^a, WU Di^a, WANG Xin ^b, GAO Shun-de^b, WANG Xiu-kun ^a

(a. School of Computer Science and Technology; b. School of Mechanical Engineering, Dalian University of Technology, Dalian 116023, China)

Received:2012-06-28 Online:2013-05-15 Published:2013-05-14

起重机吊装路径规划系统设计

林远山^a，吴迪^a，王欣^b，高顺德^b，王秀坤^a

(大连理工大学 a. 计算机科学与技术学院；b. 机械工程学院，辽宁大连 116023)

作者简介:林远山(1982－)，男，博士研究生，主研方向：路径规划；吴迪、王欣，副教授；高顺德，教授级高级工程师；王秀坤，教授
基金资助:
辽宁省自然科学基金资助项目(201102025)；大连市科技计划基金资助项目(2012A17GX122)

Abstract

Abstract:

This paper designs a path planning system for crane lifts. The problem of lift path planning is formulated. The architecture of this system is proposed. The overview of path planning approaches is focused on for crane lifts. The paper introduces the implementation of path planning module. Experimental results show that this system is able to visualize the result of one certain path planning algorithm and compare the performance of several algorithms under the same condition. Besides, this system allows users not only easily to append new algorithm, but also handily to add new lift path planning problem.

Key words: crane, path planning system, lift, configuration space, kinematics constraint

摘要：

针对起重机吊装路径规划算法性能对比困难的问题，设计并实现一个通用的规划系统。对起重机吊装路径规划问题进行分析，根据算法与问题的逻辑关系搭建系统框架，介绍吊装路径规划算法框架以及路径规划模块的实现过程。实验结果证明，该系统可直观地展示某一规划算法的规划结果，使多个算法在同等条件下进行性能比较，有助于算法研究。此外，该系统不仅容易扩充新算法，还能方便地增加吊装路径规划问题。

关键词: 起重机, 路径规划系统, 吊装, 位形空间, 运动学约束

CLC Number:

TP391.9

LIN Yuan-Shan, TUN Di, WANG Xin, GAO Shun-De, WANG Xiu-Kun. Design of Path Planning System for Crane Lift[J]. Computer Engineering, 2013, 39(5): 12-17.

林远山, 吴迪, 王欣, 高顺德, 王秀坤. 起重机吊装路径规划系统设计[J]. 计算机工程, 2013, 39(5): 12-17.

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URL:

https://www.ecice06.com/EN/Y2013/V39/I5/12

References

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