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

Table 2

A comparison of the maximum swing angles and average angles.

trajectory	PSO-BC	OTGM	PPBM	PSO-BC	OTGM	PPBM
Maximum swing angle (rad)	0.0494	0.0882	0.0872	0.0136	0.0363	0.0872
Average angle (rad)	0.0249	0.0247	0.0194	0.0047	0.0089	0.0193