Truck Crane Path Planning Algorithm Of The Virtual Assembly Environment

Machinery and equipment manufacturing industry is an important foundation of the development of national economy. As one of the important parts of equipment manufacturing industry, crane industry provides a good guarantee for the rapid development of city construction. Crane lifting is a very complex process. Although it’s difficult to make a lifting scheme, the lifting safety and cost directly depend on the quality of the lifting scheme.In the environment of Virtual-Reality, this thesis focuses on the intent to improve efficiency and safety of the process of making a lifting plan, and reduce the cost of consumption by studying the path planning algorithm which based on multi objective. The main works are as follows:Firstly, an environment of virtual lifting is built based on the crane lifting operations. Crane lifting process consists of three basic crane operations, such as amplitude movement, rotary movement, and telescopic movement. These three operations can be performed as a single action operation or combinative action operation. Then, for establishing environment model of the strategy of path planning, a method of linear octree is adopted to divide the virtual scene. According to the effectors such as the position of crane, working condition and loading rate, the scope of path search is confirmed. At the same time, M coding mode is used to coding for leaf nodes of linear octree, thus to choose a suitable algorithm for neighborhood nodes searching, the node of start point searching and the node of end point searching.Secondly, consider characteristic of crane lifting, the path planning algorithm which based on multi objective is proposed. For getting the global optimal path of lifting, the best costing function is designed. Not only security of lifting path but also economic benefit of lifting path is contained in the design of costing function. For the reason that the barrier is different, punish factor is added into the function. Also, weight factor which is used for setting weight of the distance and energy consumption is added into the function because of uncertainty of the environment. Finally, Virtual-Reality of the path planning strategy is realized by the OpenGL programming language on the platform of lifting expert guide system, which provides the reference value for the construction of lifting.