Optimisation of overhead crane path based on RRT-A* fusion improvement algorithm
Guangyu Mu, Mengru Zhang, Gang Wu, Zhijun Li, Lanlan Pan · International Journal of Simulation and Process Modelling · 2023
A novel RRT-A* fusion improvement algorithm is proposed, in this paper, to overcome limitations inherent in conventional path planning methods that overlook unique constraints related to motion direction and inertia in overhead crane operations. Initially, environmental modelling is refined by expanding and integrating obstacles to ensure crane safety during object lifting manoeuvres. Subsequently, two optimisation strategies are deployed: an extended optimisation approach to bolster the basic RRT algorithm and a direction weight optimisation strategy to fine-tune the A* algorithm. These enhancements enhance path search efficiency, addressing issues such as unreasonable diagonal path cost computation and turning point cost in A*. Finally, the combined algorithms are validated for feasibility. Results affirm the efficacy of the proposed RRT-A* algorithm in generating collision-free obstacle avoidance paths for overhead cranes, showcasing advantages in path length, turning point reduction, and energy efficiency.