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

Figure 6

A comparison of the proposed methods and the existing approaches for when the desired location of the trolley is at 3m. (a) The trolley displacements and the control points of the Bezier curves; (b) the trolley accelerations; (c) the swing angles of the payloads; (d) the normalized energies of the payloads.

(a)

(b)

(c)

(d)