Control Methodology of Stacker Cranes for Collision Avoidance Considering Dynamics in a Warehouse

摘要：

We propose a control methodology of stacker cranes to avoid collisions in warehouse environment including the constraint on trajectories caused by dynamics. In a warehouse environment, there are three problems: constraint on trajectories caused by the consideration of dynamics (e.g., vibration control), safety in the case of an emergency stop, and practical calculation time. In the proposed method, the motion is planned through two approaches. In the first, the trajectories of cranes are chosen from candidates that satisfy the constraint on dynamics and checked to determine whether the selected trajectory ensures safety in an emergency. The calculation cost is reduced by confining the candidate trajectories using the characteristic of the number of cranes. If a collision cannot be avoided in the first approach, we adjust the confined candidate trajectories and find a suboptimal trajectory. Measures used in the second approach are to delay the movement of cranes or to generate detours. The simulation results show the effectiveness of the proposed method.

作者: Hisato Hino Yoshimasa Kobayashi Toshimitsu Higashi Jun Ota

作者单位: Department of Precision Engineering,The University of Tokyo,7-3-1 Hongo,Bunkyo-ku,Tokyo,Japan Murata Machinery,Ltd Research into Artifacts,Center for Engineering (RACE),The University of Tokyo,5-1-5 Kashiwanoha,Kash

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 983-988

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）