The Development of an Autonomous Mobile Crane System Considering On-Line Obstacle Recognition and Path Planning
Akihiro Kaneshige*, Shigeo Hasegawa*, and Kazuhiko Terashima**
*Toyota National College of Technology, Dept. of Mechanical Engineering Eiseicho 2-1, Toyota-City, Aichi 471-8525 Japan
**Toyohashi University of Technology, Dept. of Production System Engineering, Hibarigaoka 1-1, Tempaku-Cho, Toyohashi-City, Aichi 441-8580 Japan
The purpose of this paper is to present a method to establish an autonomous mobile crane system which includes on-line obstacle recognition, path planning by on-line and suppression of sway of the transferred object. The system consists of three different parts: a visual system, a planning system and a control system. In the visual system, ultra sonic sensor is used to renew small part of environmental map during the transferring taking advantage of quick scanning time. In the planning system, proposed on-line path planning method is used in an artificial potential field based on the solution of the Laplacian differential equation. This path planning method can correspond to minor changes in the transportation environment during transportation. The on-line path planning has been accomplished by regenerating the updated potential field. In the control system, feed-forward controller by means of notch filter is used to achieve the suppression of sway of the transferred object. Finally, the usefulness of the proposed method is confirmed by simulations and experiments.