抄録
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. First, for on-line obstacle recognition, ultra sonic sensor is installed to the crane system to capture environmental changes of transfer space during transferring. Next, off-line and on-line path planning algorithm based on potential method is proposed to accomplish the path planning with minimum calculation. Fick's diffusion equation is used for potential method. Then, in order to develop the transferring control system that copes with suppression of object swaying, feed forward control by use of notch filter is applied. These three components are integrated thus constituting the autonomous mobile overhead crane system. Usefulness of the proposed crane system is demonstrated by simulation and experiment.
