Motion planning for overhead cranes based on iterative strategy

An iterative-strategy-based motion planning scheme for overhead cranes is proposed in this paper. First of all, an S reference trajectory is chosen according to practical constraints and operating experiences, for which an anti-swing component is introduced based on the kinematic equation of overhead cranes; subsequently, an ideal trajectory, whose stability is proved by Lyapunov techniques, is planned based on a novel iterative strategy; finally, some simulation is implemented for the planned trajectory to show that it can accurately position the trolley as well as effectively suppress the swing of the payload.