Path Planning of a Non-Standard Heavy Cargo in Dual-Crane Operation

Abstract

For the safe transfer of non-standard heavy cargo to the inboard by dual-crane operation, an algorithm which can automatically generate the rotational path that movement with rotation in horizonal plane in the process of transverse-moving is designed to plan the rotation path of the cargo. However, this algorithm does not consider the stability of the ship in the process of transverse-moving, and only aims to meet the requirements of safe operation of cranes and collision-free between cargo and derricks. Then a two degrees of freedom (DOF) of collision-free rotation path is generated by determining the boom elevation angle and horizontal slewing angle during rotation, making the calculation process is faster. At the same time, in order to consider the control of subsequent stability and floating state of ship, this paper refines the rotation process. Finally, the feasibility of the algorithm is verified by the real ship data, which provides a reference for the path planning of heavy lifting ship using dual crane operation mode to load non-standard heavy cargos.