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

Figure 5

The convergence of the best fitness evaluations (a) for when the desired location of the trolley is and the initial angle is zero and (b) for when the desired location of the trolley is and the initial angle is 5 degrees.

(a)

(b)