Three-dimensional obstacle avoidance online path-planning method for autonomous mobile overhead crane
Three-dimensional obstacle avoidance online path-planning method for autonomous mobile overhead crane
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DOI：
10.1109/icma.2011.5985971
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发表时间：
2011-08
期刊：
影响因子：
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通讯作者：
Shunsuke Nagai;A. Kaneshige;S. Ueki
中科院分区：
文献类型：
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作者：
Shunsuke Nagai;A. Kaneshige;S. Ueki
本文提出了一种建立三维（3-D）自主移动的桥式起重机系统，考虑到障碍物识别和路径规划在线的方法。尤其需要相对快速地执行在转移期间发生的在线路径规划。本文介绍了一种路径规划的方法，可以在很短的时间内进行一个简单的算法。这个目标系统有三个不同的部分：视觉系统，规划系统和控制系统。在视觉系统中，利用超声波传感器在传输过程中对局部环境地图进行更新，具有扫描速度快的特点。在规划系统中，基于Srinivas的扩展路径规划方法提出的在线路径规划方法允许在换乘期间进行诸如运输环境的改变的改变。利用超声波传感器获得的被操纵物体周围障碍物的信息，实现了在线路径规划。最后，我们已经证实了所提出的方法的有效性，通过模拟。
This paper presents a method for establishing a three-dimensional (3-D) autonomous mobile overhead crane system that takes into account obstacle recognition and path planning online. It is especially necessary for the online path planning occurring during transferring to be carried out relatively quickly. This paper describes a method of path planning that can be carried out in a short time with an easy algorithm. This target system has three different parts: a visual system, a planning system, and a control system. In the visual system, ultrasonic sensors are used to renovate a partial environmental map during transferring with the quick scanning time. In the planning system, a proposed online path-planning method based on the expanded path-planning method of Srinivas allows for changes such as a change in the transportation environment to be made during the transferring. Online path planning has been achieved using information regarding obstacles around the object being manipulated, as obtained by ultrasonic sensor. Finally, we have confirmed the usefulness of the proposed method by simulation.