Abstract:<div>In dynamic environment, the suddenly appeared
</div><div>human or other moving obstacles can affect the safety of the
</div><div>bridge crane. For such dangerous situation, the bridge crane
</div><div>must predict potential collisions between the payload and the
</div><div>obstacle, keep safe distance while the swing of the payload must
</div><div>be considered in the mean time. Therefore, the safe distance is
</div><div>not a c… Show more
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