【摘要】 针对快速扩展随机树算法路径点杂乱、搜寻效率低的缺点，提出一种适用于吊运路径规划的改进快速扩展随机树算法：引入概率偏向系数，基于代价函数对路径树结构父子节点重构布线，迭代得到渐进最优的规划路径；建立裁剪函数，规划路径生成后，参考路径的代价值动态剔除代价值更大的节点；最后基于贪心算法思想，剔除可行规划路径的冗余节点。基于数字化工程环境、吊运任务和塔机运动模型三要素，在Unity3D平台建立虚拟吊运方法，用三维建筑信息模型(BIM)描述数字化建造环境，吊运任务定义目标和碰撞检测参数，按真实参数建立的塔机运动模型负责完成动作转换和执行。仿真实验结果表明：改进算法的平均采样点数仅为RRT*算法的23.8%,平均路径点数仅为RRT*算法的50%左右，路径长度较对照算法有所缩短。塔机在接近工程现场的虚拟环境中，利用改进RRT算法，自主搜寻更优避障路径，完成虚拟自主吊运，证明了方法可行性。更多还原

【Abstract】 This research proposed an improved rapidly-exploring random tree algorithm for tower crane operating path planning, to address the drawbacks of cluttered path nodes and low search efficiency of RRT algorithm. The algorithm incorporated probability bias coefficients and constructs a rewiring mechanism for parent and child nodes along path tree based on cost functions, leading to the emergence of an asymptotically optimal planned path. Additionally, a prune function was introduced, after generating the planned path, dynamically eliminate tree nodes with higher cost values by referencing cost values of path. Redundant nodes were further eliminated for feasible planning paths using a greedy algorithm. To establish a virtual operating method, three key roles were defined: a digital construction environment, lifting tasks, and tower crane motion model. The Unity3D engine was employed, where a three-dimensional BIM model representd the digital construction environment; lifting tasks define target cargo and collision detection parameters, and tower crane motion model established based on real parameters are responsible for scheduled action conversion and execution. Simulation experiments results demonstrate that the simulation experimentsresults demonstrate that the improved algorithm reduces to only 23.8% in the number of sampling nodes, only half in the average number of path nodes compared with RRT*, and gives shorter path length than other algorithms. In virtual environment similar to actual construction sites, the tower crane model successfully searches for better collider-bypassing paths, and completes virtual operation tasks, thus demonstrating feasibility of the proposed method. and completes virtual operation tasks, thus demonstraing feasibility of the proposed method.更多还原