DocumentCode :
433985
Title :
Real time path planning based on the potential method with 3-D diffusion process for an overhead traveling crane
Author :
Kaneshige, Akihiro ; Akamatsu, Takeshi ; Terashima, Kazuhiro
Author_Institution :
Dept. of Mech. & Electr. Eng., Tokuyama Coll. of Technol., Syunan, Japan
Volume :
3
fYear :
2004
fDate :
20-23 July 2004
Firstpage :
1715
Abstract :
This paper presents a method to establish real time path planning for three-dimensional (3-D) autonomous mobile overhead crane system for prospective factories. The proposed crane system is constructed from a visual system, a planning system and a control 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. The original transfer environment is recognized by CCD image sensors and laser line markers while real-time partial changes of transfer environment are recognized by USS. In the planning system, taking advantage of the previous research for the off-line path planning based on the potential method, expanded planning system is proposed to accomplish the on-line path planning. In this system, transfer path is reconstructed as environmental changes occur by means of the potential method. Also, this transfer path is used as crane control references.
Keywords :
cranes; mobile robots; path planning; robot vision; 3D autonomous mobile overhead crane system; 3D diffusion process; CCD image sensor; laser line marker; planning system; potential method; real time path planning; ultrasonic sensor; visual system; Charge-coupled image sensors; Control systems; Cranes; Diffusion processes; Image recognition; Path planning; Production facilities; Real time systems; Sensor systems; Visual system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference, 2004. 5th Asian
Conference_Location :
Melbourne, Victoria, Australia
Print_ISBN :
0-7803-8873-9
Type :
conf
Filename :
1426896
Link To Document :
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