Obstacle-Aware Control for 3D Cranes Via Dynamic Window Planning and Optimal Tracking

Efficient and safe operation of 3D overhead cranes requires precise sway suppression and reliable motion planning in obstacle-rich environments. This paper presents a hybrid planner-tracker framework that integrates the Dynamic Window Approach (DWA) for local path planning with the Integral Linear Quadratic Regulator (ILQR) for optimal tracking and sway reduction. The DWA generates dynamically feasible velocity commands that balance progress, clearance, and smoothness, while the ILQR ensures accurate trajectory tracking and disturbance rejection. An observer is incorporated to reconstruct unmeasured states, further improving robustness under noisy conditions. Simulation studies in MATLAB/Simulink demonstrate that the proposed approach can accurately track trajectories, effectively suppress sway, and safely avoid obstacles in complex layouts. The results highlight the framework as a practical solution for obstacle-aware automation of industrial overhead cranes.