Variational Approach to Trajectory Optimization w. r. t. Energy Recuperation for Stacker Cranes

2024/11/04 by Zöllner, Rico, Jannasch, Ella, Schmidt, Thorsten
#Energy Recuperation #Non-smooth Analysis #Stacker Cranes #Trajectory Optimization #Warehouse Logistics

paper · doi:10.2195/lj_proc_zoellner_en_202410_01

Abstract

For optimal motion planning of stacker cranes, a time-continuous model based on a variational approach is presented. The objective is to maximize energy recu-peration between the two drives of a stacker crane. In addition to a comparison with a time-discrete ap-proach, the energy saving potential as well as techni-cally adverse trajectories are identified for a concrete example.

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