High-dimensional Space Search System for Multi-tower Crane Motion Planning

The purpose of multi-tower crane motion planning is to find a collision-free construction process for multiple tower cranes operating in a construction site. This problem can be reduced to the path searching problem in highdimensional space and an important amount of research related to the path search algorithm has been published in various fields. In this paper, we analyzed the features of high-dimensional space reduced from the construction site, and we found that the generated space has particular patterns. Therefore, we propose that the previously developed path searching algorithms can easily be optimized to the space. Finally, this study presents an implementation of goal-biased rapidlyexploring random trees, and running the algorithm in the reduced space allows us to obtain the collision-free construction process for multiple tower cranes effectively.