Using the Bezier Curve and Particle Swarm Optimization in Trajectory Planning for Overhead Cranes to Suppress the Payloads’ Residual Swing

Figure 4

The results of the proposed trajectory planning for when the desired location of trolley is set at 4m. (a) The trolley’s displacement and control points on the Bezier curve; (b) the trolley’s acceleration; (c) the swing angle of the payload; (d) the normalized energy of the payload.

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(b)

(c)

(d)