Intelligent Control of 3-Dimensional Autonomous Mobile Cranes

在目前的研究中，已经完成了桥式起重机系统的硬件、传感器、模拟器和控制器部分。本文的目的是提出一种建立自主移动起重机系统的方法，该系统考虑了离线障碍物识别和路径规划，以及传输系统的摆动抑制。该系统有三个不同的部分：视觉系统、路径规划系统和控制系统。在视觉系统中，使用一对CCD图像传感器和激光线标记器，通过滑动射线投影法生成环境地图。在规划系统中，利用得到的环境图推导出从起点到目标位置的最优转移路径，如最小距离路径、最小能量代价路径或无摆动路径。采用基于三维扩散方程的势法自动生成路径。在控制系统中，采用指定极点配置的变量控制器来实现对传递对象的位置控制和抑制摆动。最后，通过仿真和实验验证了所提方法的有效性。在线障碍识别与避障的研究是完善自主移动起重机系统的必要条件，也是下一个亟待解决的问题。

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.