Adaptive Safe Distance Prediction Using MPC for Bridge Cranes Considering Anti-Swing in Dynamic Environment

In dynamic environment, the suddenly appeared
human or other moving obstacles can affect the safety of the
bridge crane. For such dangerous situation, the bridge crane
must predict potential collisions between the payload and the
obstacle, keep safe distance while the swing of the payload must
be considered in the mean time. Therefore, the safe distance is
not a constant value, which must be adaptive to the relative
speed of the bridge crane. However, as far as we know, the
mathematical model between the safe distance and the relative
speed of the bridge crane has never been fully discussed. In
this paper, we propose a safe distance prediction method using
model prediction control (MPC), which can make sure that the
crane can stop before the obstacle, and avoid possible collisions,
while the relative speed and anti-swing are both considered. The
experimental results prove the effectiveness of our idea.