Auto-positioning of Sliding Planes Based on Virtual Force

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In this paper, an auto-positioning algorithm for sliding planes is newly proposed in two different forms: the General Virtual Force Algorithm (GVFA) and the Applied Virtual Force Algorithm (AVFA). The proposed algorithm is then applied to an auto-positioning spreader which can slide on the top surface of a container with 3 degrees of freedom (DOF). This enables the spreader to handle containers even on a wavy open sea, where the inevitable swinging motion of a spreader leads to significant misalignment from the container during landing. With numerical simulation and experiments using a 1/20 scale model, it is verified that the proposed algorithms provide a robust and reliable solution for in-plane path-finding. Considering the limited space and cost for sensor equipment, however, using AVFA with 8 sensors can be a better solution for an actual application regardless of the slight sacrifice in performance in terms of operation time and energy consumed.
Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
Issue Date
2013-08
Language
English
Article Type
Article
Keywords

TRACKING CONTROL; OBSTACLE AVOIDANCE; POTENTIAL-FIELD; MOBILE ROBOTS; MODE CONTROL; SYSTEMS

Citation

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.11, no.4, pp.798 - 804

ISSN
1598-6446
DOI
10.1007/s12555-012-0300-1
URI
http://hdl.handle.net/10203/187375
Appears in Collection
ME-Journal Papers(저널논문)GT-Journal Papers(저널논문)
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