Development of the autonomous mobile overhead traveling crane in consideration of on-line obstacle recognition, path planning and oscillating control

In order to establish an autonomous overhead traveling crane system, it is needs to be constructed the obstacle recognition system, the path planning system and the control system of suppression of object swing automatically. These systems development is studied by our research group. In particular, the on-line obstacle recognition system using an ultrasonic sensor and the on-line obstacle avoidance path planning system of the on-line which extended the obstacle avoidance path planning method of the autonomous mobile robot which Srinivas has proposed to the three-dimensional obstacle avoidance path planning system are developed. Furthermore, the feed-forward control system using a notch filter is constructed. However, the feed-forward control system was not able to control object swing which occurred during initial deviation or transportation. Therefore, in order to improve the vibration suppression of object swing, 2-degrees of freedom control system is constructed in this research. It is unified with the obstacle recognition system and path planning system which are proposed until now, and the usefulness of the autonomous overhead traveling crane system integrated was confirmed.