Novel hoisting action planning method for crane

The invention belongs to the fields of construction machinery, computation and control automation, and relates to a method for planning the hoisting action sequence of a crawling crane according to a rapidly-exploring random tree, a heuristic strategy, and a CAD technology, namely, computer-assisted hoisting scheme design technology on the basis of modern brand new hoisting scheme design theory method. With the adoption of the method, the problems of terrible roundabout path, large route cost, long planning time and poor route quality of the existing hoisting action planning method can be solved; a specific action sequence for automatically switching from the starting pose position and orientation into the placing pose position and orientation on the premise that the crane is automatically avoided collision from a hoisted matter; therefore, the hoisting can be safely and efficiently done through the crane based on the action sequences; the simulating and rehearsing result of the hoisting shows that the method is effective and efficient.