Modular integrated construction (MiC) is the most advanced construction method that involves off-site manufacturing, factory-to-site transportation, and on-site assembly of free-standing integrated modules. Despite the growing interest in the manufacturability of MiC, little research is available on the passing ability issues where efficient and safe transportation of modules is critical to the project's success. This paper proposes (1) a novel computational method for formulating and solving the module's horizontal passing ability with road constraints as a motion planning problem and (2) a new index to assess the path performance in critical scenarios. The newly developed Truck-Parallelized Hybrid A Star (TP-Hybrid A*) has novelties in collision checking, cost function formulation, and parallel computing on different vehicle dimensions. The effectiveness of the developed algorithm was experimentally verified to be superior to the rapid random tree in computation time and path performance and further demonstrated by applying it to a real-life MiC project. The new index can serve as a useful tool for decision-making in module dimension design and transportation planning of MiC projects when tackling the module's horizontal passing ability issues.

中文翻译：

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模块化集成建造中高效安全模块运输的运动规划

模块化集成施工（MiC）是最先进的施工方法，涉及独立的集成模块的异地制造、工厂到现场的运输和现场组装。尽管人们对 MiC 的可制造性越来越感兴趣，但关于通过能力问题的研究很少，而模块的高效和安全运输对于项目的成功至关重要。本文提出 (1) 一种新的计算方法，用于制定和解决具有道路约束的模块的水平通过能力作为运动规划问题，以及 (2) 评估关键场景中路径性能的新指标。新开发的 Truck-Parallelized Hybrid A Star (TP-Hybrid A*) 在碰撞检查、成本函数制定和不同车辆尺寸的并行计算方面具有新颖性。所开发算法的有效性经过实验验证，在计算时间和路径性能方面优于快速随机树，并通过将其应用于现实生活中的 MiC 项目进一步证明。在解决模块的水平通过能力问题时，新指标可以作为MiC项目的模块尺寸设计和运输规划决策的有用工具。