Technical Papers
Jul 11, 2014

Motion Planning and Coordination for Mobile Construction Machinery

Publication: Journal of Computing in Civil Engineering
Volume 29, Issue 6

Abstract

Inadequate tools for evaluating construction machinery management have resulted in engineers relying heavily on experience to plan and replan site management during short time frames, with a lack of consideration for the movement of different construction machinery and the coordination of multiple construction machines. This study proposes a four-step motion planning and coordination method to evaluate construction machinery management. The method includes four steps: (1) model development, (2) configuration space construction, (3) path finding, and (4) machine coordination. This method can be used to perform motion planning for mobile construction machinery to generate a collision-free path for multiple construction machines moving simultaneously on a construction site, based on the true movement of construction machinery. Two virtual construction sites were constructed to test the efficiency of the developed method. The results indicate that the method can provide a collision-free path for two sets of machinery in different complex environments within one minute. This method can help engineers evaluate the site plan from a logistics approach, and thus determine the possible site layout.

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Published In

Go to Journal of Computing in Civil Engineering
Journal of Computing in Civil Engineering
Volume 29Issue 6November 2015

History

Received: Apr 29, 2013
Accepted: Apr 8, 2014
Published online: Jul 11, 2014
Discussion open until: Dec 11, 2014
Published in print: Nov 1, 2015

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Authors

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Jacob Je-Chian Lin [email protected]
Dept. of Civil Engineering, Civil Engineering Building, National Taiwan Univ., No. 1, Sec. 4, Roosevelt Rd., Taipei 10617, Taiwan. E-mail: [email protected]
Wei-Han Hung, Ph.D. [email protected]
Dept. of Civil Engineering, Civil Engineering Building, National Taiwan Univ., No. 1, Sec. 4, Roosevelt Rd., Taipei 10617, Taiwan. E-mail: [email protected]
Shih-Chung Kang [email protected]
Associate Professor, Dept. of Civil Engineering, Civil Engineering Building, National Taiwan Univ., No. 1, Sec. 4, Roosevelt Rd., Taipei 10617, Taiwan (corresponding author). E-mail: [email protected]

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