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

DOI

10.2991/3ca-13.2013.114How to use a DOI?

Keywords

component; Automation, Mobile Robot, Overhead Traveling Crane, On-line Path Planning, Oscillating control.

Abstract

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.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Akihiro Kaneshige
AU  - Yudai Kawasaki
AU  - Shunsuke Nagai
PY  - 2013/04
DA  - 2013/04
TI  - 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
BT  - Proceedings of the 2nd International Symposium on Computer, Communication, Control and Automation
PB  - Atlantis Press
SP  - 468
EP  - 473
SN  - 1951-6851
UR  - https://doi.org/10.2991/3ca-13.2013.114
DO  - 10.2991/3ca-13.2013.114
ID  - Kaneshige2013/04
ER  -