New Control Concept for a Gantry Tractor Comprising a “Chorus Line” of Synchronized Modules

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.