Collision Avoidance Strategy for the Autocrane.

Area of Science:

• Robotics
• Mechanical Engineering
• Telecommunications

Background:

• Autocrane boom collisions pose significant risks of equipment damage and casualties.
• Advancements in 6G technology enable real-time data sharing among multiple autocranes for precise control.

Purpose of the Study:

• To propose an effective collision avoidance strategy for autocranes.
• To enhance the safety of autocrane operations by preventing boom-obstacle collisions.

Main Methods:

• Developing a collision avoidance strategy based on collision urgency evaluation.
• Designing distinct evaluation methods for three basic boom exercise modes.
• Implementing a control strategy linked to collision risk levels.
• Considering special cases to protect the entire boom structure.

Main Results:

• The proposed strategy effectively assesses collision urgency for different boom movements.
• A control strategy is formulated to ensure boom safety across various risk levels.
• Special case considerations prevent collisions involving the boom, excluding the end effector.

Conclusions:

• The developed collision avoidance strategy, leveraging 6G technology, significantly enhances autocrane safety.
• Semi-physical testing validates the strategy's performance in mitigating collision risks.