Development of an Autonomous Mobile Overhead Traveling Crane with on-line Obstacle Recognition and Path-Planning Based on Obstacle Information -The Design of a Transfer Control System in Consideration of Oscillating Control

摘要

This paper is introduced to be the obstacle recognition, path planning and oscillating control for an automobile crane system on-line. We studied the autonomous mobile overhead traveling crane so for. In particular, the research of obstacle recognition, path plan and oscillating control is carried out. For on-line obstacle recognition, the obstacle recognition system using the ultrasonic sensor (USS) is built. And on-line partial obstacle recognition of the conveyance environment is carried out using this obstacle recognition system. For an on-line path planning, the path plan system which it could process with the information of transfer object position and the obstacle position that is recognized by obstacle recognition system in a short time was built. The feedback transfer control system in consideration of oscillating control is built. Finally, the usefulness of the system that these were integrated is proved by an experiment.