On-line determination of wheel angles and speeds for manoeuvrable gantry tractor comprising a “chorus line” of synchronised modules

Abstract

This paper presents a new algorithm for online, real-time calculation of the wheel angles and speeds of gantry tractor modules. In ‘working’ mode the modules are latched together to form a rigid truss, whereas in ‘transport’ mode, the modules are unlatched so that they are only connected at their hitch points allowing the module to maneuver along curved paths.