On-demand Trajectory Planning with Load Sway Suppression and Obstacles Avoidance in Automated Overhead Traveling Crane System

The present study addressed on an advanced trajectory planning method of load transfer in an automated overhead traveling crane. In the automated overhead traveling crane, since the derivation of the load transfer trajectory with load sway suppression and obstacles avoidance while satisfying the limitations in the crane system requires considerable time, it is difficult to response promptly the user request of target position, to which the load is transferred. Therefore in this study, we propose the on-demand transfer trajectory planning method using the phased optimization in consideration of obstacles avoidance and load sway suppression. In this approach, the user requests the target position and rough trajectory of the cart by using the touch interface which displays the transfer space with obstacles. The initial trajectory for applying into the trajectory optimization can be formed with the rough trajectory, and the trajectory optimization in consideration of load sway suppression and obstacles avoidance is performed based on the formed initial trajectory. By the proposed approach, the trajectory can be derived fast, and the optimized trajectory is similar to the user request. The efficacy of the proposed trajectory planning method is verified with the laboratory-type overhead traveling crane.