| Project/Area Number |
08650314
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Intelligent mechanics/Mechanical systems
|
|---|
| Research Institution | TOYOHASHI UNIVERSITY OF TECHNOLOGY |
|---|
Principal Investigator |
TERASHIMA Kazuhiko Toyohashi University of Technology, Faculty of Engineering, Professor, 工学部, 教授 (60159043)
|
|---|
| Project Period (FY) |
1996 – 1997
|
| Project Status |
Completed (Fiscal Year 1997)
|
| Budget Amount *help |
¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 1997: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1996: ¥1,900,000 (Direct Cost: ¥1,900,000)
|
|---|
| Keywords | Autonomous Crane / Intelligent control / Path Planning / Obstacle Recognition / Obstacle Avoidance / Suppression of Swinging / Overhead traveling / control |
|---|
| Research Abstract |
In the present research, the hardware of overhead traveling crane systems, sensors, simulators and controllers parts has been completed. The purpose of this paper is to present a method for establishing an autonomous mobile crane system which takes into account obstacle recognition and path planning by off-line, and suppression of swinging for the transfer system. The system has three different parts : a visual system, a path planning system and a control system. In the visual system, an environment map is generated by the Slid-Ray Projection method using a pair of CCD image sensors and a laser-line marker. In he planning system, the obtained environment map is used to derive an optimal transfer path such as a minimum distance path or a minimum energy cost path or swinging-free path from the start to the goal position. The path is generated through the use of auto-generation algorithm using a potential method based on the three dimensional diffusion equations. In the control system, the variable-controller with the specified-pole assignments is used to achieve position control and the suppression of sway for the transfer objects. Finally, the validity of the proposed method is confirmed by simulatoions and experiments. The studies of on-line obstacle recognition and avoidance are now indispensable in order to complete a perfect autonomous mobile crane systems, and therefore it will be a next problem to be solved very soon.
|
