Trailer-truck trajectory optimization - The transportation of components for the airbus A380

Dual Adaptive Dynamic Control of Mobile Robots Using Neural Networks

“…This interest is primarily justi ed by a vast array of existing and potential practical applications [18] [22]. In addition, a number of particularly interesting theoretical challenges enrich this eld of study.…”

Control of two manipulation points of a cooperative transportation system with two car-like vehicles following parametric curve paths

“…In other words, although singlesteering single-trailer systems have nonholonomic constraints, in which all the wheels of the systems are constrained to roll without slipping, the systems have only one steering system, so that, in some cases, the system will not have sufficient maneuverability to transport long-bodied objects in an operating environment containing obstacles, e.g., buildings, telephone poles, and traffic light poles. Increasing the maneuverability of such systems, e.g., making the rolling directions of the trailer's passive wheels active relative to the orientation of the trailer, has been proposed [5] [29] [30] [15]. However, this requires some special steering mechanisms for the trailer.…”

Control of a Five-axle, Three-steering Coupled-vehicle System and its Experimental Verification

“…For coupled-vehicle systems which transport large structural objects, such object is generally loaded onto a single trailer, which is towed by a single car-like mobile robot (Sampei (1995), Samson (1995), Altafini (2001), Lizarraga et al (2001), and Deligiannis et al (2006)). The required length of the trailer increases with the length of the struc-tural object, which increases the likelihood of interference with obstacles in the operating environment and thus complicates the transportation operation, and therefore there have been proposed various methods to increase the maneuverability of the coupled-vehicle system by the addition of a mechanism for actively varying the rolling direction of the trailer's passive wheels relative to the orientation of the trailer , , , Nakamura (2001), and Lamiraux et al (2005)). For the same purpose, the authors have previously proposed the connection of one trailer to two car-like mobile robots via two passive revolute joints together with cooperative steering (Yamaguchi et al (2010)).…”

“…For the same purpose, the authors have previously proposed the connection of one trailer to two car-like mobile robots via two passive revolute joints together with cooperative steering (Yamaguchi et al (2010)). In such transportation systems (Sampei (1995), Samson (1995), Altafini (2001), Lizarraga et al (2001), Deligiannis et al (2006), Bushnell et al (1995), , , Nakamura (2001), Lamiraux et al (2005), and Yamaguchi et al (2010)), however, the load bed configuration cannot be changed to facilitate the transportation of large structural objects of differing configurations, and such objects therefore extend well beyond the trailer bed during the transpiration, increasing the risk of load and trailer overturning.…”