Trajectory generation for the trajectory tracking control of a fire rescue turntable ladder

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 an 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 by considering variable kinematic constraints and a given corridor for the resulting play back trajectory.