Abstract:

To address the limitation that traditional collision detection algorithms cannot effectively adapt to collision detection in trajectory planning of multi-crane coordinated suspension system (MCSS), a vector-based detection algorithm that comprehensively considers collision risks is proposed. First, considering the catenary effect in cables, an optimized cable model is developed, and corresponding detection strategies are provided for different collision types. Then, based on the model optimization strategy, a vector collision detection (VCD) algorithm and optimization method based on linear combination of points, vectors, and angles are proposed. The simulation results show that the algorithm accurately and efficiently performs eight effective collision detections, verifying the rationality of the optimization strategies for two different collision types. Finally, equivalent elastic strain and equivalent stress of the cables further verify that the algorithm has good collision detection accuracy and efficiency. The proposed VCD algorithm can better adapt to multi-crane coordinated suspension systems in complex suspension environments and provide a feasible reference for subsequent obstacle avoidance trajectory planning of the suspension system.

Key words: multi-crane coordinated suspension system (MCSS), vector collision detection (VCD) algorithm, model optimization, cable-driven systems