Shenghao Tong, Jinbao Zhao, Peng Zhou, Ke Zhang, Donggang Liu, Yanze Long
{"title":"Automatic Obstacle Avoidance Control System for Cable Crane With Error Constraints","authors":"Shenghao Tong, Jinbao Zhao, Peng Zhou, Ke Zhang, Donggang Liu, Yanze Long","doi":"10.1002/rob.22568","DOIUrl":null,"url":null,"abstract":"<div>\n \n <p>To solve the problem of low efficiency of automatic obstacle avoidance in the operation of cable cranes, this paper proposes a dynamic sliding mode obstacle avoidance control method with an error constraint function. First, considering the geometric position relationship between the trolley and the obstacle, an obstacle avoidance trajectory with an autonomously planned path is constructed based on the sine function, which reduces the excessive requirements for the geometric parameters of the obstacle. Second, a dynamic sliding surface with an error constraint function is designed to control the system's tracking error within a preset range. Finally, the stability of the system is strictly proved by using Barbarat's lemma and Lyapunov's theorem. The simulation results and experiments show that compared with other methods, the controller proposed in this paper reduces the maximum load swing angle during operation, shortens the time required for the load to reach a stable state, and accurately limits the error tracking of the load obstacle avoidance trajectory to within 0.02 m. It also shows good obstacle avoidance performance for external disturbances in the experiment. Therefore, the controller proposed in this paper can complete the obstacle avoidance function of obstacles and achieve accurate positioning and rapid antisway effect of the load.</p>\n </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3077-3092"},"PeriodicalIF":5.2000,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Field Robotics","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rob.22568","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
To solve the problem of low efficiency of automatic obstacle avoidance in the operation of cable cranes, this paper proposes a dynamic sliding mode obstacle avoidance control method with an error constraint function. First, considering the geometric position relationship between the trolley and the obstacle, an obstacle avoidance trajectory with an autonomously planned path is constructed based on the sine function, which reduces the excessive requirements for the geometric parameters of the obstacle. Second, a dynamic sliding surface with an error constraint function is designed to control the system's tracking error within a preset range. Finally, the stability of the system is strictly proved by using Barbarat's lemma and Lyapunov's theorem. The simulation results and experiments show that compared with other methods, the controller proposed in this paper reduces the maximum load swing angle during operation, shortens the time required for the load to reach a stable state, and accurately limits the error tracking of the load obstacle avoidance trajectory to within 0.02 m. It also shows good obstacle avoidance performance for external disturbances in the experiment. Therefore, the controller proposed in this paper can complete the obstacle avoidance function of obstacles and achieve accurate positioning and rapid antisway effect of the load.
期刊介绍:
The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments.
The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.