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

Figure 7

A comparison of the proposed methods and the existing approaches for when the desired location of trolley is at 1m. (a) The trolley displacements and 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)