Obstacle avoidance control for overhead crane with rotary motion of load

In this paper, the posture and tracking control with obstacle avoidance is presented for autonomous overhead crane with rotary motion. At first, a rotating mechanics is proposed and formularized. The next, an optimal controller is designed for each axis to avoid between the obstacles by rotating and traveling. The preview control is implemented in order to synchronize the rotation axis with traveling axis. Furthermore, the improvement of control performance is achieved by time-varying controller to minimize the superficial error between the reference path and actual path. The effectiveness of proposed method is shown through experiments and simulation.