Safety-Critical Trajectory Re-Planning with Angle Constraint and Obstacle Avoidance for Overhead Cranes

This paper introduces an approach for re-planning safety-critical trajectory with angle constraint and obstacle avoidance for under-actuated overhead crane systems. In industrial productions, it is crucial to limit the payload swing angle of overhead crane systems within an acceptable range for safety and avoid payload collisions with obstacles. A detailed design and reachability analysis of the optimization algorithm is proposed, emphasizing its practical relevance and advantages. The algorithm is then effectively incorporated with the designed CBF to ensure continuous adherence to angle constraints and obstacle avoidance, thereby enhancing system safety and the optimal control input is obtained by solving the quadratic programming problem. Extensive simulations are carried out to assess the proposed method's performance that payload swing angle can be strictly constrained within the safe range and the trolley can reach the specified position even with obstacle avoidance, and a thorough comparison with existing techniques demonstrates its superior effectiveness and reveals notable improvements in trajectory planning precision and safety assurance.