CRANE-X: Trajectory Planning for Gantry Crane Systems via RRT

CRANE-X is a motion planning system for gantry cranes, integrating sampling-based trajectory generation and underactuated control in ROS 2.

Project image 1 Project image 2 Project image 3

🚧 About CRANE-X

CRANE-X (Crane Reach and Navigation Engine – Experimental) is a ROS 2-based application that applies Rapidly-exploring Random Trees (RRT) for generating dynamically feasible trajectories for gantry cranes. The system considers underactuated payload dynamics and supports obstacle-aware planning in constrained environments.

✨ Features

  • RRT-based global planner for gantry cranes
  • Obstacle-avoidance with environment configuration
  • Detailed 2D crane dynamics including swing
  • Real-time visualization with RViz
  • Modular controllers for trolley, rope, and payload

🔍 Use Cases

  • Research in underactuated system control
  • Teaching and demonstration for robotic planning
  • Industrial automation and material handling studies

🧠 Technical Notes

CRANE-X leverages ROS 2, OMPL, and custom crane models. The planner produces piecewise waypoints smoothed using interpolation functions. The controller stack supports PID and LQR for closed-loop trajectory tracking, with visual feedback via RViz markers.