| Summary: | This paper proposes an approach for generating real-time rigging path guidance for tele-operated cranes. This approach is developed to fulfill both the operational safety and efficiency requirements, and the operational feasibility requirements for crane operators. This approach utilizes feedback from real crane operators obtained during a pilot test using a prototype of a tele-operated crane in order to develop a feasible rigging path guidance system. Firstly, the probabilistic roadmap method (PRM) coupled with a sampling-based searching method in configuration space is employed as the core path planning algorithm to provide the operator with possible collision-free rigging paths. The paths suggested by the PRM are then further modified to account for three operational feasibility factors: visibility, control features, and the dynamic environment. This finally leads to paths with workable and safe trajectories for tele-operated crane usage. The suggested rigging paths are displayed and replanned in a real-time manner, in consideration of the dynamic objects on construction site. Furthermore, a validation with a tower crane simulation system in a virtual environment has been developed to demonstrate the feasibility and usability of the proposed approach. Further evaluation and benchmarking of the approach will be needed in future research.
|
|---|