Aiming at the problem of neglecting the cranes' end trajectory and system motion stability when planning the multi-crane coordinated suspension system trajectory, a multi-strategy improved suspension system trajectory planning algorithm that considers the dynamic stability of the suspension system is proposed. First, the dynamic trajectory stability evaluation criteria are obtained through the analysis of the kinematics and dynamics of the suspension system. Then, various suspension performance parameters such as trajectory dynamic stability and length are defined. Subsequently, in order to solve the problem of insufficient compatibility between the traditional crested porcupine algorithm and the suspension system, the Sine-Tent-Cosine chaotic mapping is added to initialize the population to improve the diversity of the algorithm's initial solutions; the penalty factor is introduced to balance exploration and development stage; in the exploration stage, the Cauchy Gaussian perturbation and the pooling mechanism controlled by the equivalent deviation index are added to enhance the global search capability of the algorithm; in the development stage, the Levy patrol flight strategy that balances global and local optimization and the convergence factor of nonlinear growth is used to improve the convergence ability of the algorithm. Subsequently, the multi-strategy improved crowned porcupine optimization algorithm is combined with the collision detection algorithm to obtain the trajectory with the lowest Gini impurity of the suspended object and cranes' end in a suspension environment with threat areas. Finally, it is verified through simulation that the proposed trajectory planning scheme considering the dynamic stability of the suspension system can better adapt to the multi-crane coordinated suspension system, the dynamic reconfigurable trajectory that meets the suspension performance requirements is obtained and provide theoretical reference for subsequent suspension system control.