Trajectory sequence generation and static obstacle avoidance for automatic positioning tasks with a tower crane
Matthias Thomas, Jiacheng Qiu, Oliver Sawodny · 2021
In this paper, a graph-based planning algorithm is presented to extend the control concept from [1] to enable automatic positioning tasks with industrial tower cranes including prismatic obstacles in the workspace. The newly developed algorithm makes use of efficient calculation of s-curve trajectories. To avoid collisions with static obstacles, a heuristic approach is chosen to generate additional via-points, besides the start and target position. The transition times of the trajectories are used as weightings of the edges in the resulting directed graph. Using the transition times as weightings allows to determine the best trajectory sequence with state of the art graph-search algorithms. The algorithm is explained in detail and simulation results are shown.