Abstract: The process and result of path planning approach for mobile crane are difficult to intuitively display and the performance test for approaches is difficult. So, a path planning platform for mobile crane is proposed. The architecture of this system is proposed. The detailed design of path planning subsystem and visualization subsystem is given. A case is used to demonstrate the usability and effectiveness of the system. The results show that this system is able to visualize the process and result of certain path planning approach and test the performance of approaches, which is beneficial to study of lift path planning approaches for researchers.

Key words: mobile crane, lift, path planning, simulation, system architecture, visualization

摘要： 针对移动式起重机吊装路径规划的过程、结果难以直观显示，算法性能测评困难等问题，设计并实现了一款面向移动式起重机吊装路径规划的仿真平台。给出平台的系统框架，具体介绍路径规划、可视化的设计，用一个实例验证其可用性和有效性。实例表明，平台可实时显示搜索树（图）的生长过程、规划所得的路径及其吊装过程，同时可进行算法性能的自动测试，有助于吊装路径规划算法的研究。

关键词: 移动式起重机, 吊装, 路径规划, 仿真, 系统框架, 可视化