A robotic approach to the analysis of obstacle avoidance in crane lift path planning

• Author / Creator

  Lei, Zhen

• Crane lift path planning is time-consuming, prone to errors, and requires the practitioners to have exceptional visualization abilities, in particular, as the construction site is congested and dynamically changing. This research presents a methodology based on robotics motion planning to numerically solve the crane path planning problem. The proposed methodology integrates a database in order to automatically conduct 2D path planning for a crane lift operation, and accounts for the rotation of the lifted object during its movements. The proposed methodology has been implemented into a computer module, which provides a user-friendly interface to aid the practitioners to perform a collision-free path planning, and check the feasibility of the path at different stages of the project. Three examples are described in order to demonstrate the effectiveness of the proposed methodology and illustrate the essential features of the developed module.

• Subjects / Keywords

  • Robotics
  • Path Planning
  • Motion Planning
  • Crane Lift

• Graduation date

  Fall 2012

• Type of Item

  Thesis

• Degree

  Master of Science

• DOI

  https://doi.org/10.7939/R3503J

• License

  This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.