Abstract
In this paper, the path planning considering rotary motion of load is presented for automous overhead crane. First, we give the condition of interference between a rectangular load and obstacles, and a movable area without interference is decided in the configuration space. Secondly, a secure path planning is derived by the potential method based on extended 3-dimensional diffusion equation considering rotary motion. Furthermore, the parameter of suppressing rotary motion in the extended diffusion equation is clarified, and its effect is demonstrated. Finally, Quadratic curved surface interpolation method is proposed to get the smooth path planning, and the effectiveness of the proposed method is demonstrated through simulation results.
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