Sensor-based Collision Avoidance for Rope-Suspended Autonomous Material Flow Systems
Abstract
A novel approach to collision avoidance concerning unknown dynamic obstacles is presented for a material flow system using an overhead travelling crane. The task involves the tracking of a desired trajectory derived from a path planning module based on a global map containing all static obstacles. The crane has been upgraded with three ultrasonic sensors which detect dynamic obstacles on the desired trajectory. Experimental results obtained from an implementation at the overhead travelling crane demonstrate the efficiency of this prototype of an autonomous material flow system
