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

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.