Collisions between automated moving equipment and human workers in job sites are one of the main sources of fatalities and accidents during the execution of construction projects. In this paper, we present a methodology to identify and assess project plans in terms of hazards before their execution. Our methodology has the following steps: 1) several potential plans are extracted from an initial activity graph; 2) plans are translated from a high-level activity graph to a discrete-event simulation model; 3) trajectories and safety policies are generated that avoid static and moving obstacles using existing motion planning algorithms; 4) safety scores and risk-based heatmaps are calculated based on the trajectories of moving equipment; and 5) managerial implications are provided to select an acceptable plan with the aid of a sensitivity analysis of different factors (cost, resources, and deadlines) that affect the safety of a plan. Finally, we present illustrative case study examples to demonstrate the usefulness of our model.