New control concept for a gantry tractor comprising a 'chorus line' of synchronized modules

Title: New control concept for a gantry tractor comprising a 'chorus line' of synchronized modules
Creator: Ibrahim, Yousef; Spark, Ian; Percy, Andrew
Date: 2010
Type: Text; Journal article
Identifier: http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/34619
Identifier: vital:6318
Identifier: https://doi.org/10.1109/TIE.2009.2028365
Identifier: ISSN:0278-0046
Abstract: A new method of automatically maneuvering a gantry tractor through right-angle turns, U-turns, and narrow gates is described in this paper. In order to maximize traction and maneuverability, both the wheel-angle steering effect and the drive-wheel-speed steering effect are integrated. This technique produces identical and cooperative redundant steering systems. The necessary wheel angles and drive wheel speed have been simulated. The advantage of cooperative redundancy is that when any steering system begins to fail, it is reinforced by the other steering system
Relation: IEEE Transactions on Industrial Electronics Vol. 57, no. 2 (2010), p. 762-768
Rights: Copyright IEEE
Rights: Open Access
Rights: This metadata is freely available under a CCO license
Subject: Drive-wheel-speed steering effect; Gantry tractor; Synchronized modules; Wheel-angle steering effect; 09 Engineering; 08 Information and Computing Sciences
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