Title :
On the control of US Navy cranes
Author :
Levine, J. ; Rouchon, P. ; Yuan, G. ; Grebogi, C. ; Hunt, B.R. ; Kostelich, E. ; Ott, E. ; Yorke, J.A.
Author_Institution :
Centre Autom. et Syst., E.N.S.M.P., Fontainebleau, France
Abstract :
A simplified model of the motion of a US Navy crane in the plane is presented. We prove that the system is differentially at and we solve the (open loop) motion planning problem to carry the load from one point to another with obstacle avoidance. Simulations are presented.
Keywords :
collision avoidance; cranes; motion control; open loop systems; US Navy cranes control; motion control; motion planning; obstacle avoidance; open loop; simulations; Cranes; Load modeling; Mathematical model; Planning; Pulleys; Trajectory; Winches; Nonlinear control; crane control; differential atness; motion planning;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
