Obstacle Avoidance Path Planning of Bridge Crane Based on Improved RRT Algorithm

doi:10.16182/j.issn1004731x.joss.20-0272

Abstract

Abstract: In view of the problem that the reasonable path can not be obtained quickly for bridge crane planning in complex environment, a rapidly exploring random tree (RRT) algorithm combined with particle swarm algorithm is proposed. According to the characteristics of the bridge crane operation, the RRT algorithm is improved. The two-way RRT algorithm is used to make the tree grow in the direction of the target according to the probability. When the path is generated, the particle swarm optimization algorithm is used to smooth the path to get a more suitable path for the operation of the bridge crane. The final simulation shows that the safe path is obtained and the feasibility of the method is proved when the path planning of bridge crane hoisting is carried out in the complex environment with many obstacles and different shapes.

Key words: bridge crane, hoisting and obstacle avoidance, path planning, RRT algorithm

CLC Number:

TP273
TP391

Chen Zhimei, Li Min, Shao Xuejuan, Zhao Zhicheng. Obstacle Avoidance Path Planning of Bridge Crane Based on Improved RRT Algorithm[J]. Journal of System Simulation, 2021, 33(8): 1832-1838.

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