Path Planning for Crane Lifting Based on Bi-Directional RRT

Abstract

Path planning is a key technology in the process of crane lifting, how to work out a safe and efficient lifting path in the complex environment is the core of the crane lifting field. In this paper, a method based-on bi-directional RRT is applied to the crane lifting. The problem description, cost function and security analysis are presented, then a valid lifting path is obtained. Finally, the effectiveness of this method is verified by a practical engineering lift.