Development of the Autonomous Mobile Overhead Traveling Crane in Consideration of On-line Obstacle Recognition, Path Planning and Oscillating Control

Y. Kawasaki, A. Kaneshige, S. Ueki

Abstract

In order to establish an autonomous overhead traveling crane system, it is needs to be constructed the obstacle recognition system, the path planning system and the control system of suppression of object swing automatically. These systems development is studied by our research group. In particular, the on-line obstacle recognition system using an ultrasonic sensor and the on-line obstacle avoidance path planning system of the on-line which extended the obstacle avoidance path planning method of the autonomous mobile robot which Srinivas has proposed to the three-dimensional obstacle avoidance path planning system are developed. Furthermore, the feed-forward control system using a notch filter is constructed. However, the feed-forward control system was not able to control object swing which occurred during initial deviation or transportation. Therefore, in order to improve the vibration suppression of object swing, 2-degrees of freedom control system is constructed in this research. It is unified with the obstacle recognition system and path planning system which are proposed until now, and the usefulness of the autonomous overhead traveling crane system integrated was confirmed.

References

  1. A. Kaneshige, et al.: 2012-9. Development of the Autonomous Overhead Travelling Crane with Real Time Path-Planning Based on Obstacle Information, Proc. of 13th IFAC Symposium on Control in Transportation Systems CTS'2012 Sofia (Bulgaria), Sept.12-14, 2012, pp.274/279.
  2. S. Nagai, A. Kaneshige and S. Ueki: 2011-8. ThreeDimensional Obstacle Avoidance Online PathPlanning Method for Autonomous Mobile Overhead Crane, Proc. of the 2011 IEEE IEEE/ASME International Conference on Mechatronics and Automation, Beijing(China), CD-ROM, pp.1497/1502.
  3. K. Terashima and A. Kaneshige: 1999. Load-Position Control of Overhead travelling crane in terms of Fixed-Pole App.roach for 3-D Trasfer Path, Proc.of the European Control ECC'99, Karlsruhe, Geramany, Aug-Sep. BP11.
  4. Y. L. Srinivas and S. N. Kramer, 1991. An Algorithm For Real-Time Obstacle Avoidance A Conference and Path Planning For Mobile Robots, Advances in Design Automation, 2, 507-514.
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Paper Citation


in Harvard Style

Kawasaki Y., Kaneshige A. and Ueki S. (2014). Development of the Autonomous Mobile Overhead Traveling Crane in Consideration of On-line Obstacle Recognition, Path Planning and Oscillating Control . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 382-389. DOI: 10.5220/0005047103820389


in Bibtex Style

@conference{icinco14,
author={Y. Kawasaki and A. Kaneshige and S. Ueki},
title={Development of the Autonomous Mobile Overhead Traveling Crane in Consideration of On-line Obstacle Recognition, Path Planning and Oscillating Control},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={382-389},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005047103820389},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Development of the Autonomous Mobile Overhead Traveling Crane in Consideration of On-line Obstacle Recognition, Path Planning and Oscillating Control
SN - 978-989-758-040-6
AU - Kawasaki Y.
AU - Kaneshige A.
AU - Ueki S.
PY - 2014
SP - 382
EP - 389
DO - 10.5220/0005047103820389