Kinematic model of multiple trailers on a tractor system for production logistics applications

This paper demonstrates kinematic analysis of multiple trailers on a tractor system for production logistics. The analysis concerned three different steering systems of the trailers: virtual clutch and drawbar system, conventional clutch and drawbar system, double Ackermann steering system. Designed kinematic models contain various variants of paths: turning at a constant value of the steering angle, changing the steering angle as a result of an approaching collision. Each of these variants also included driving in a straight line after a 90° turn. The validation of the developed kinematic model was done by using a real logistic train, which path was registered via aerial drone. For each of the developed kinematic models, a visualization of drive through the 90° turn was created.