Trucks belong to the kinematic category of car-like robots (CLR). They are characterized as nonholonomous vehicles, that is to say they have a limited freedom of motion. This characterization also holds for any type of articulated vehicles, whereas the degree of freedom of motion decreases by any movable axle added to the vehicle. Several approaches and strategies to cope with the problem of controlling these vehicles have been published in literature. Only a minority of them works on this problem applying their results to real trucks or physical models of real trucks. However, the few results available cover a wide scope of application, e.g. a truck with one-axle trailer backing up to a ramp; a truck with two-axle trailer backing up along a straight line; a truck with one-axle trailer executing a backward parking maneuver Technical progress permits the usage of autonomous series trucks and trailers in the scope of transport automation. A certain application - here a driverless roro-terminal - is designed and implemented with components of a software architecture dedicated to autonomous driving. First results referring to the achievable degree of performance with driverless roro terminals are presented.


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    Title :

    A versatile software architecture for maneuvering many articulated vehicles


    Additional title:

    Eine vielseitige Programmarchitektur für das Manövrieren von Sattelzugfahrzeugen


    Contributors:


    Publication date :

    2005


    Size :

    5 Seiten, 7 Bilder, 5 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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