Tian, Zheng, Yang, Jun, Wang, Xinming and Li, Shihua
2026.
Safe motion planning of underactuated rope-suspended payload systems: A safety preview-based approach.
Automatica
193
, 113227.
10.1016/j.automatica.2026.113227
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Abstract
The underactuated rope-suspended payload system (URPS) consists of a vehicle and a payload connected by a rope, such as overhead cranes and suspended-payload quadrotors. Coordinated vehicle–rope motion enables complex tasks but introduces stringent safety requirements, particularly payload and rope collision avoidance under multiple constraints. This paper addresses real-time multi-safety motion planning for URPSs. By leveraging control barrier functions (CBFs), high-order CBFs (HOCBFs), and a linkage factor-based predictive cost, we propose a safety preview-based trajectory modifier (SPTM) to enforce dynamic obstacle avoidance, rope collision avoidance, and state and workspace constraints. The safety preview guarantees minimum safety of the predictive corrected trajectory, while a customized slack strategy improves feasibility. Experiments on an overhead crane system demonstrate the effectiveness of the proposed SPTM in static and dynamic obstacle scenarios.
| Item Type: | Article |
|---|---|
| Date Type: | Publication |
| Status: | Published |
| Schools: | Schools > Engineering |
| Additional Information: | RRS policy applied |
| Publisher: | Elsevier |
| ISSN: | 0005-1098 |
| Date of First Compliant Deposit: | 11 August 2026 |
| Date of Acceptance: | 28 July 2026 |
| Last Modified: | 11 Aug 2026 14:00 |
| URI: | https://orca.cardiff.ac.uk/id/eprint/188878 |
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