Virtual Hoisting Path Planning Based on Improved Probabilistic RoadMap Algorithm

In order to solve the difficult problem of virtual hoisting path planning in high dimensional space,an improved Probabilistic RoadMap algorithm is used to plan the lifting path.Based on the swinging of the hanging objects,the configuration space model of hoisting system is established,using the uniform random sampling strategy to obtain a large number of sampling nodes,connecting the neighbor sampling nodes to get the probability roadmap of the hoisting feasible path,and then by lifting the shortest path and motion change minimum as the optimization goal,finding the optimal path of the hoisting operation.On this basis,the operator's hoisting process is guided and evaluated.Experimental results show that this method can find an optimal path in complex virtual lifting environment,and can solve the multi-degree of freedom path planning problem well.