Locating cranes is critical toward safely lifting in construction industry. In this paper, based on overlapping work envelopes, we present optimized solutions for collision-free locating of mobile cranes. Our solution first determines the feasible location areas of the cranes, which are discretized with regular grids. We then incorporate a collision detection method, through which the locations with potential collision are eliminated. With the objective of minimizing the weight sum about safety, a smart search is further performed to identify the most suitable locations. Our solution has been implemented in the intelligent computation module for 3D lifting system developed by our group. Its feasibility and effectiveness has also been demonstrated through a concrete case study.

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