motion planning for tower crane operation cs236a prof. latombe shan pan | jessy kang
Post on 21-Dec-2015
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Major Challenges Schedule
Predict? Guess? Special Projects
Complex projects Fast-track projects Critical working space constrains
Tower Crane Operation
Secure structure element to hook
Move piece from original location to final position
Holding time Repositioning of crane to next piece
T1T1 T2T2 T3T3 T4T4
Configure Space vs World Space
{H}
{B}
Θ1
Θ4
d2
d3
1000
100
0
0
),,,(3
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4321 d
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xα
β
γ
Planning Algorithm (RRT)
While (MaxStep is not reached)While (MaxStep is not reached)1. Expand Tree_1 (init) & Tree_2 (goal)1. Expand Tree_1 (init) & Tree_2 (goal)2. Connect check2. Connect check if connected, then Generate a Path if connected, then Generate a Path else goto 1. else goto 1.
Expand:Expand:1. Create a random node 1. Create a random node 2. find nearest node2. find nearest node3. try to add nearest node to tree3. try to add nearest node to tree4. try to add the random node the tree4. try to add the random node the tree
Connect:Connect:1. Can the new added nodes See any of the 1. Can the new added nodes See any of the nodes from another tree? (collision detection nodes from another tree? (collision detection as a straight line)as a straight line)InitInit
GoalGoal
Collision Detecting
Test to see if a point in behind all the box surfacesTest to see if a point in behind all the box surfaces