Mobile cranes are used to lift heavy modules in industrial projects. These heavy modules are often prefabricated and each project consists of a large number of lifts (e.g., a typical industrial project may have between 150 and 1000 modules to be lifted). To ensure the safety and efficiency of these lifting activities, crane motion planning is needed. However, in practice, most of the heavy lift studies are, at best, performed semiautomatically and still require significant manual work. In addition to being inefficient, this approach is also characterized by a high error rate, especially in the context of congested construction sites, not to mention its slow response to changes in work order or project scope. For instance, if a module is delayed, the crane motion planning may need to be redesigned (at least partially) since the configuration of the obstacles on the construction site no longer conforms to what had been assumed in the original planning. This paper thus proposes a generic model for mobile crane motion planning that can be implemented in industrial projects. The proposed approach considers the typical site constraints and performs automatic planning for the entire site. An industrial project with more than 100 modules is selected for validation of the proposed method. 3D visualization is also developed to demonstrate the lifts in a 3D Studio Max environment.