Real time path planning based on the potential method for an autonomous mobile overhead traveling crane
Real time path planning based on the potential method for an autonomous mobile overhead traveling crane
复制标题
DOI：
10.1109/isie.2004.1571891
复制
发表时间：
2004-05
期刊：
影响因子：
--
通讯作者：
T. Akamatsu;A. Kaneshige;K. Terashima
中科院分区：
文献类型：
--
作者：
T. Akamatsu;A. Kaneshige;K. Terashima
提出了一种面向未来工厂的三维自主式移动式桥式起重机实时路径规划方法。拟建的起重机系统包括视觉系统和规划系统。在视觉系统中，使用了CCD图像传感器、激光划线器和超声波传感器(USS)来扫描转移空间的环境。环境地图是利用CCD图像传感器和激光划线器通过油线建立描述原始转移环境的地图，而USS则通过在线快速扫描识别转移环境的部分变化来更新环境地图。在对以往离线路径规划研究进行扩展的基础上，提出了建立离线路径规划的规划体系。该系统以势场法为算法，在原有路径规划势场和更新后的环境地图的基础上，发展出描述换乘空间最新环境的更新势场。然后，根据更新的势场构建用于避障的转移路径，并将其用作起重机控制参考。
This paper presents a method to establish real time path planning for three-dimensional (3-D) autonomous mobile overhead crane system for prospective factories. Proposed crane system includes a visual system and a planning system. In the visual system, CCD image sensors, laser line markers and ultra sonic sensor (USS) are used to scan the environment of transfer space. Environmental map that describes the original transfer environment is built by CCD image sensors and laser line markers by oil-line while USS is used to renovate environmental map as it recognizes partial changes of transfer environment in terms of the quick scanning by on-line. The planning system that establishes the on-line path planning is proposed by expanding the previous research of the off-line path planning. By means of the potential method as its algorithm, updated potential field that describes the latest environment of transfer space is developed from the potential field developed in previous path planning and renovated environmental map in this system. The transfer path for obstacle avoidance is then constructed from the updated potential field and used as crane control references.