Abstract: Large-scale aerial work platform(AWP) truck is a special equipment used for rescuing and firefighting for high buildings. To solve the trajectory planning problem for AWP with multi-joint in motion, a collision avoidance method is proposed based on heuristic path-searching in the luffing plane containing obstacles. The boom system with multi-degree-of-freedom is modeled parametrically in accordance with the real structure, and the D-H(Denavit-Hartenberg) parameters and homogeneous transformation matrix are listed. Then the collision condition for the booms and the enveloping circle is analyzed based on the simplified model of the obstacle. The path is searched in the 4-dimensional configuration space by using heuristic A* algorithm in Matlab program. Numerical simulation result of PTP shows that the booms avoided the obstacle successfully. Finally the appraisal function of the path searching for booms of AWP which comprises both prismatic and revolute joints is researched, and the optimal trajectory which contains minimum nodes and costs minimum time is acquired.

Key words: Aerial work platform truck, Appraisal function design, A-star algorithm, Collision avoidance