1. Motion Planning for Tower Crane Operation

2. Motivation  Tower crane impacts the schedule greatly  Safety of tower crane operation is critical

3. Major Challenges  Schedule Predict? Guess?  Special Projects Complex projects Fast-track projects Critical working space constrains

4. Tower Crane Operation Secure structure element to hook Move piece from original location to final position Holding time Repositioning of crane to next piece T1T2T3T4

5. The Crane

6. Configure Space vs World Space {H} {B} Θ1Θ1 Θ4Θ4 d2d2 d3d3 z y x α β γ

7. Planning Algorithm (RRT) While (MaxStep is not reached) 1. Expand Tree_1 (init) & Tree_2 (goal) 2. Connect check if connected, then Generate a Path else goto 1. Expand: 1. Create a random node 2. find nearest node 3. try to add nearest node to tree 4. try to add the random node the tree Connect: 1. Can the new added nodes See any of the nodes from another tree? (collision detection as a straight line) InitGoal