Gantry Crane Path Planning and Control
Authors
Jensen, Jonathan Midtgaard ; Mignon, Malthe Lang ; Monroy Bjørn, Alberto Martin
Term
4. semester
Education
Publication year
2023
Submitted on
2023-10-02
Abstract
The thesis addresses the automation of yard gantry cranes and asks how a 2D overhead crane can plan safe, efficient trajectories and be controlled accurately with limited sway under real hardware constraints. The work includes a review of state-of-the-art path planning and control for cranes, derivation of a mathematical model and 3D representation of the available crane, and a detailed hardware setup (control box, Arduino, motor drivers, sensors). A complete solution is proposed that integrates a Model Predictive Controller (MPC) with a potential-field-based path planner, supported by measurement normalization, linearization, and validation of the friction coefficient and model. The solution is tested against a set of requirements via acceptance tests, and two path-planning algorithms are compared; a discussion and recommendations for further improvements are provided. The excerpt does not report quantitative performance results but documents the methods and testing framework.
Rapporten adresserer automatisering af portalkraner i containerhavne og undersøger, hvordan en 2D-overheadkran kan planlægge sikre, effektive baner og styres præcist med begrænset sving under praktiske hardwarebegrænsninger. Arbejdet omfatter en gennemgang af state-of-the-art inden for baneplanlægning og kranstyring, opbygning af en matematisk model og 3D-repræsentation af den tilgængelige kran samt en detaljeret opsætning af elektronik (styreboks, Arduino, motorstyringer, sensorer). Der foreslås en samlet løsning, der integrerer en Model Predictive Controller (MPC) med en potentialefelt-baseret baneplanlægger, suppleret af målenormalisering, linearisering og validering af bl.a. friktionskoefficient og model. Løsningen afprøves gennem kravspecifikation og acceptance tests, og to baneplanlægningsalgoritmer sammenlignes; der gives en diskussion og anbefalinger til videre forbedringer. Uddraget angiver ikke kvantitative resultater, men dokumenterer metode og testramme.
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