Title: Optimisation of overhead crane path based on RRT-A* fusion improvement algorithm

Authors: Guangyu Mu; Mengru Zhang; Gang Wu; Zhijun Li; Lanlan Pan

Addresses: Mechanical and Power Engineering College, Dalian Ocean University, Dalian 116023, China ' Mechanical and Power Engineering College, Dalian Ocean University, Dalian 116023, China ' Dalian Huarui Heavy Industry Group Co., Ltd., 169 Bayi Road, Xigang District, Dalian 116013, China ' Mechanical and Power Engineering College, Dalian Ocean University, Dalian 116023, China ' Mechanical and Power Engineering College, Dalian Ocean University, Dalian 116023, China

Abstract: 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.

Keywords: overhead crane; path planning; RRT algorithm; A* algorithm; obstacle avoidance; collision-free path.

DOI: 10.1504/IJSPM.2023.139808

International Journal of Simulation and Process Modelling, 2023 Vol.21 No.1, pp.63 - 74

Received: 31 Jan 2024
Accepted: 11 Apr 2024
Published online: 05 Jul 2024 *

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