In North America, industrial projects are constructed using a modularization/offsite construction method. Modules, such as pipe racks and vessels, are prefabricated offsite in factories, assembled in module yards, and shipped to the site for installation. This process has been adopted by the industry to achieve high efficiency and reduce waste by eliminating as much on-site work as possible. During the on-site installation, expensive mobile cranes are used for lifting activities, and appropriate use of these cranes can reduce costs and shorten the construction process. On the contrary, improper management of crane operations can lead to budget overruns, schedule delays, and safety issues. To ensure a smooth lifting process, engineering design for crane motions becomes necessary as a reference for onsite lifting. However, the current design process is manual-based, and consequently day-to-day changes of the site information make the process tedious and error-prone. Thus, a solution must be sought which provides rapid and accurate design of crane motions. In this context, crane motions can be categorized into “pick-and-swing” and “crane walking”:​ in the first case, the crane lifts the module from a fixed location, while in the second scenario the crane picks the module and walks a certain distance with the load before delivering it to its final location. This research proposes a generic methodology for crane motion planning which captures the characteristics and typical constraints of crane motion planning. This approach is implemented as a series of computer systems for automating the planning process. Actual industrial projects are used to test the proposed computer system and validate the approach.