Trajectory Generation for the Trajectory Tracking Control of a Fire Rescue Turntable Ladder
نویسندگان
چکیده
In cooperation with IVECO Magirus for the new generation of fire turntable ladders a trajectory tracking control was developed to avoid swaying of the cage especially in case of large ladder lengths. Beside the active damping of the upcoming oscillations as a new functionality a automated mode for the ladder operation was implemented. This automated mode has to provide time indexed reference functions for the underlying trajectory tracking control after a Teach-In run of the ladder. The algorithm has to shorten the traveling time considering variable kinematical constraints and a given corridor for the resulting play back trajectory.
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