Fast and Safe 3D Crane Motion Using I-LQR and Dynamic Path Planning

This talk presents an optimal control and navigation system for 3D overhead cranes. Using an optimized Integral LQR controller tuned by Differential Evolution, the crane achieves faster and smoother motion with zero overshoot. A modified Dynamic Window Approach (DWA) helps the crane safely plan paths and avoid obstacles while carrying loads. Together, these methods make crane operation more accurate and safer.