Safe and efficient operations of cranes in complex construction environments require thorough planning of lift paths. As the scales of construction projects expand, path planning becomes excessively sophisticated and laborious using conventional practices where lift paths are verified manually. This study proposes a novel practicality and safety-aware path planning method for single crane lifting scenarios, which defines and incorporates key practicality considerations in a sampling-based path planning algorithm. An RRT*-based algorithm is proposed and validated via a case study of real-world lift jobs. Results indicate that the proposed method significantly improved the path quality in terms of practicality considerations without compromising computational efficiency. The proposed method is promising in generating operable and realistic paths that can be practically executed by crane operators. It is expected to advance the knowledge and practice in automated crane lift planning, allowing for more informed prediction and management of on-site activities involving the use of cranes.

在复杂的施工环境中，起重机的安全有效运行需要对举升路径进行彻底的规划。随着建设项目规模的扩大，使用常规实践（手动验证举升路径）的路径规划变得过于复杂和费力。这项研究提出了一种新的实用性和安全意识的路径规划方法，用于单起重机起重场景，该方法定义并在基于采样的路径规划算法中纳入了关键的实用性考虑因素。提出了一种基于RRT *的算法，并通过对实际电梯作业的案例研究进行了验证。结果表明，所提出的方法在不影响计算效率的前提下，从实用性角度考虑，显着提高了路径质量。所提出的方法在产生可被起重机操作员实际执行的可操作且现实的路径方面是有希望的。期望在自动起重机吊装计划中提高知识和实践，从而可以更明智地预测和管理涉及起重机使用的现场活动。