Planning and visualization for automated robotic crane erection processes in construction

This paper summarizes ongoing research aimed at developing knowledge, methods and tools required to implement automated robotic crane erection processes for the construction industry. In the proposed approach, construction cranes are treated as multi-degree-of-freedom robots and modeled in a virtual environment. Virtual cranes are provided with motion-planning algorithms that enable them to find collision-free and time-efficient paths for each piece that needs to be erected. Inverse kinematics are then used to determine the crane motions required to move elements in previously computed paths. By using an effective method to coordinate the tasks and motions of multiple cranes, the system is also extended to construction projects that require simultaneous use of closely-spaced cranes. The virtual crane model provides realistic visualizations of erection processes and detailed erection schedules.