Lift Path Planning for Telescopic Crane Based-on Improved hRRT

Abstract

Abstract-The hRRT algorithms based on heuristics can solve many path planning problems, but its efficiency can still be improved. We deeply analyze the details of hRRT, and enhance it by using bi-directional tree and adopting kd-tree as secondary data structure to select nearest neighbors. At last, the improved hRRT is used for lift path planning for telescopic crane, and the efficiency of the improved hRRT is verified. The result of the experiment shows that the enhanced hRRT can dramatically shorten the plan time without reducing the quality of path.Index Terms-Rapidly-exploring random tree, hRRT, path planning, crane lifting.