Multi-objective Trajectory Planning with State Constraints for 5-DOF Underactuated Tower Crane Systems

Liu, Zhuoqing; Sun, Ning; Wu, Yiming; Chen, He; Liang, Xiao; Fang, Yongchun

doi:10.1007/978-981-16-5912-6_52

Cited by 3 publications

(3 citation statements)

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“…Because the corresponding payload trajectory z * d (t), t ∈ [0, t * f ] is obtained by integrating the discontinuous input v * (t) with the integrator chain dynamics (10b), it holds that r pl,d (t) ∈ C 4 . Consequently, it follows that r (4) pl,d (t) ∈ C 0 and thus it yields x d ∈ C 1 and u FF ∈ C 0 according to (7) and (8). The OCP is solved for an arbitrary initial condition z 0 denoted by (10c), whereas the terminal constraint (10d) is chosen such that the payload will be placed at waypoint w i+1 .…”

Section: B Optimal Control Problem For Trajectory Generationmentioning

confidence: 99%

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Optimization-Based Multipoint Trajectory Planning Along Straight Lines for Tower Cranes

Burkhardt,

Gienger,

Sawodny

2024

IEEE Trans. Contr. Syst. Technol.

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On common construction sites, it is often the case that tower cranes must move heavy payloads along straight lines either due to obstacles or it is the direct route to a target location. In order to enable this motion for autonomous tower cranes, the goal of this work is an offline trajectory planning algorithm for the tower crane's payload to follow multiple straight connection lines of waypoints and compute smooth transitions at the intersection of the connection lines. The considered tower crane is a rigid tower crane with five degrees of freedom. An optimal control problem (OCP) is formulated in order to compute the trajectory for the transition between two waypoints minimizing the transition time and weighted path error. The smooth transitions between the connection lines are obtained by solving the OCP for the next connection line utilizing the current position as initial condition. The simulation results investigate the time gain in comparison to a trajectory that precisely positions the payload at each waypoint. The experimental validation with a real large-scale tower crane verifies that the crane is able to time-efficiently pass through an obstacle course.

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Section: B Optimal Control Problem For Trajectory Generationmentioning

confidence: 99%

“…The trajectory generation for tower cranes is barely addressed in [5], [6], [7], [8], and [9]. The motion along connection lines and the planning of time efficient transitions between them while satisfying constraints are not considered.…”

Section: Introductionmentioning

confidence: 99%

Optimization-Based Multipoint Trajectory Planning Along Straight Lines for Tower Cranes

Burkhardt,

Gienger,

Sawodny

2024

IEEE Trans. Contr. Syst. Technol.

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show abstract

“…To tackle this problem, differential flat relations and polynomials have been widely used for trajectory design of bridge cranes. [19][20][21][22][23][24][25][26][27][28][29] These methods can produce a smooth, continuous and analytic expression for the trajectory by constructing a reasonable differential flat and using polynomials to design the reference trajectory. Despite the advantages of these methods, some drawbacks exist in the literature.…”

Section: Introductionmentioning

confidence: 99%

An enhanced coupling optimal trajectory planning for bridge cranes

Liang,

Li,

Liu

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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For the bridge crane system, the control objective is to deliver the cargo to the target location quickly, accurately, and with the smallest possible swing. Therefore, this paper proposes a novel signal-based trajectory planning approach and designs the corresponding tracking control strategy. The approach ensures that the payload can be transported smoothly in the shortest time and effectively suppresses and eliminates payload swing throughout the process. Specifically, a novel signal with enhanced coupling is first constructed, and then the system model is transformed into the system represented by the signal. The system is further discretized into critical control points, the trajectories are designed, and the optimization problem is formulated using the constraints obtained from the discrete system. Moreover, the proposed method enhances the coupling between the trolley motion and the payload swing angle, which reduces computational accuracy loss and improves the transient performance of the system. Additionally, a tracking controller is designed to verify the feasibility of the trajectory and enhance the tracking effect of the trajectory. Finally, the effective control performance of the proposed method is verified by comparing it with existing methods.

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Time-Polynomial-Based Optimal Trajectory Planning for Double-Pendulum Tower Crane With Full-State Constraints and Obstacle Avoidance

et al. 2023

IEEE/ASME Trans. Mechatron.

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Multi-objective Trajectory Planning with State Constraints for 5-DOF Underactuated Tower Crane Systems

Cited by 3 publications

References 50 publications

Optimization-Based Multipoint Trajectory Planning Along Straight Lines for Tower Cranes

Optimization-Based Multipoint Trajectory Planning Along Straight Lines for Tower Cranes

An enhanced coupling optimal trajectory planning for bridge cranes

Time-Polynomial-Based Optimal Trajectory Planning for Double-Pendulum Tower Crane With Full-State Constraints and Obstacle Avoidance

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