A Path Planning Algorithm of Automobile Crane Based on Two-dimensional Mapping of Three-dimensional Object

摘要

Focusing on large amount of information of searing map and low efficiency of the search algorithm in three-dimensional path planning problem of automobile crane, this paper proposes a path planning algorithm of automobile crane based on two-dimensional mapping of three-dimensional object. Firstly, a coordinate system is built by analyzing three-dimensional working space, and then a two-dimensional map with height value is created by using the height of a three-dimensional object to create; Secondly, based on the optimization target, search algorithm with search strategy and rollback strategy is designed to generate the planning path; Lastly, the structure of path planning and the steps of the algorithm are designed to verify the correctness of the algorithm. The results show that this method can effectively describe the three-dimensional working space of crane by using the two-dimensional flat map, and reduce the execution time of the search algorithm by decreasing the data storage, thereby reducing the complexity of the three-dimensional planning path of the automobile crane.