2A2-G07 Autonomous Mobile Crane System Considering On-line Obstacle Recognition and Path Planning

2007 ◽  
Vol 2007 (0) ◽  
pp. _2A2-G07_1-_2A2-G07_4
Author(s):  
Akihiro KANESHIGE ◽  
Kazuhiko TERASHIMA
Keyword(s):  
Path Planning ◽  
On Line ◽  
Mobile Crane

The Development of an Autonomous Mobile Crane System Considering On-Line Obstacle Recognition and Path Planning

2008 ◽  
Vol 2 (2) ◽  
pp. 131-140 ◽  
Author(s):  
Akihiro Kaneshige ◽  
◽  
Shigeo Hasegawa ◽  
Kazuhiko Terashima ◽  
Keyword(s):  
Control System ◽  
Path Planning ◽  
Visual System ◽  
Potential Field ◽  
Notch Filter ◽  
Planning Method ◽  
Planning System ◽  
On Line ◽  
Mobile Crane ◽  
Line Path

The purpose of this paper is to present a method to establish an autonomous mobile crane system which includes on-line obstacle recognition, path planning by on-line and suppression of sway of the transferred object. The system consists of three different parts: a visual system, a planning system and a control system. In the visual system, ultra sonic sensor is used to renew small part of environmental map during the transferring taking advantage of quick scanning time. In the planning system, proposed on-line path planning method is used in an artificial potential field based on the solution of the Laplacian differential equation. This path planning method can correspond to minor changes in the transportation environment during transportation. The on-line path planning has been accomplished by regenerating the updated potential field. In the control system, feed-forward controller by means of notch filter is used to achieve the suppression of sway of the transferred object. Finally, the usefulness of the proposed method is confirmed by simulations and experiments.

Path Planning in a Mobile Robot

2019 ◽  
pp. 582-608
Author(s):  
Diego Alexander Tibaduiza Burgos ◽  
Maribel Anaya Vejar
Keyword(s):  
Genetic Algorithms ◽  
Path Planning ◽  
Mobile Robot ◽  
Fitness Function ◽  
Experimental Setup ◽  
Robot Path Planning ◽  
Natural Evolution ◽  
On Line ◽  
Planning Problems ◽  
Robot Path

This chapter presents the development and implementation of three approaches that contribute to solving the mobile robot path planning problems in dynamic and static environments. The algorithms include some items regarding the implementation of on-line and off-line situations in an environment with static and mobile obstacles. A first technique involves the use of genetic algorithms where a fitness function and the emulation of the natural evolution are used to find a free-collision path. The second and third techniques consider the use of potential fields for path planning using two different ways. Brief descriptions of the techniques and experimental setup used to test the algorithms are also included. Finally, the results applying the algorithms using different obstacle configurations are presented and discussed.

scholarly journals Autonomous Mobile Crane System Considering Obstacle Recognition and Optimal Path Planning.

1998 ◽  
Vol 64 (618) ◽  
pp. 487-494 ◽  
Author(s):  
Akihiro KANESHIGE ◽  
Kazuhiko TERASHIMA ◽  
Makio SUZUKI ◽  
Rei YIN
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Mobile Crane

Research on Technology of On-Line Detection on Key Part of the Deep Sea Oil Facility

2014 ◽  
Vol 577 ◽  
pp. 417-420
Author(s):  
Hai Tao Zhang ◽  
Wei Li ◽  
Xing Wei Guo ◽  
Lei Zhao ◽  
Yu Kun Zhang ◽  
...  
Keyword(s):  
Path Planning ◽  
Data Processing ◽  
Deep Sea ◽  
Line Detection ◽  
Product System ◽  
High Demand ◽  
On Line ◽  
Feature Information

The key part of the deep sea product system has high demand for the detecting system. The paper makes deep research in extracting the detection feature information of the facilities, path planning, data processing. Improve the detecting efficiency and the detecting precision.

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