Avoidance algorithm for obstacles of tower cranes
CHEN Long, ZHOU Jianxing, JIANG Wei, MA Dongfang
（Key Laboratory of E&M, Ministry of Education & Zhejiang Province, Zhejiang University of Technology, Hangzhou 310014, China）
Abstract: As a main transport tool, the safety credibility and high efficiency of tower crane is very important for the whole construction project. How to prevent the collision of the tower crane is an important matter for safety guarantee.In order to prevent the collision between the obstacle and tower crane, firstly, the model of obstacles within the tower crane working area was established, and  the deceleration zone around the obstacles was  used to avoid colliding.Finally, the avoidance of obstacles algorithm of the tower crane according to efficiency and energy was proposed.The results indicate that the intelligent collision avoidance algorithm can significantly improve the construction efficiency and save energy.
Key words: tower crane;obstacle;anticollision;avoidance;algorithm