Scenario modeling and operation path planning of autonomous driving tower cranes

Combined with the operation specification of building tower cranes, the three-dimensional path planning technology of tower cranes and the optimization of path points are studied. The improved RRT-Connect algorithm is proposed. By introducing heuristic information in the path search, the path search efficiency and quality of the algorithm are improved. By eliminating invalid points in the path, the control burden of tower crane is reduced, and the optimized lifting point movement path is transformed into tower crane joint movement, and finally the calculation result is uploaded to PLC through LAN. The running trajectory of the tower crane lifting point is visually displayed in the scene model, and the validity and safety of the path are verified. The real tower crane is controlled. The operation is completed and the automatic driving of the tower crane is realized.