Point Cloud Based Path Planning for Tower Crane Lifting


Conference Article


Lihui Huang, Yuzhe Zhang, Jianmin Zheng, Panpan Cai, Souravik Dutta, Yufeng Yue, Nadia Magnenat Thalmann, Yiyu Cai
Proceedings of Computer Graphics International (CGI), Association for Computing Machinery (ACM), New York, NY, USA, 2018 Jun, pp. 211-215

DOI
Cite

Cite

APA   Click to copy
Huang, L., Zhang, Y., Zheng, J., Cai, P., Dutta, S., Yue, Y., … Cai, Y. (2018). Point Cloud Based Path Planning for Tower Crane Lifting (pp. 211–215). New York, NY, USA: Association for Computing Machinery (ACM).


Chicago/Turabian   Click to copy
Huang, Lihui, Yuzhe Zhang, Jianmin Zheng, Panpan Cai, Souravik Dutta, Yufeng Yue, Nadia Magnenat Thalmann, and Yiyu Cai. “Point Cloud Based Path Planning for Tower Crane Lifting.” In , 211–215. Proceedings of Computer Graphics International (CGI). New York, NY, USA: Association for Computing Machinery (ACM), 2018.


MLA   Click to copy
Huang, Lihui, et al. Point Cloud Based Path Planning for Tower Crane Lifting. Association for Computing Machinery (ACM), 2018, pp. 211–15.


BibTeX   Click to copy

@conference{lihui2018a,
  title = {Point Cloud Based Path Planning for Tower Crane Lifting},
  year = {2018},
  month = jun,
  address = {New York, NY, USA},
  pages = {211-215},
  publisher = {Association for Computing Machinery (ACM)},
  series = {Proceedings of Computer Graphics International (CGI)},
  author = {Huang, Lihui and Zhang, Yuzhe and Zheng, Jianmin and Cai, Panpan and Dutta, Souravik and Yue, Yufeng and Thalmann, Nadia Magnenat and Cai, Yiyu},
  month_numeric = {6}
}

Abstract

This paper discusses automatic path planning for tower crane lifting in highly complex environments to be digitized using point cloud representation. A mathematical optimization technique is developed to identify the lifting path with GPU accelerated massively parallel genetic algorithm. A continuous collision detection method is designed for real time application of collision avoidance during the crane lifting process.

Keywords

Automatic lifting path planning
Point cloud
Complex environment
Tower crane
Genetic algorithm
Collision check
Rasterization
Depth map




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