Optimale Geschwindigkeitsregelung für Flurförderzeuge am Beispiel von Portalstaplern

Abstract

Van carriers, also known as straddle carriers, are used in large numbers in container terminals for transporting and stacking containers. Due to their high located center of gravity it is possible that they tip over during fast driving around tight curves. In this paper a concept for an algorithm for optimum speed control and first simulation results will be presented. The algorithm looks ahead to ensure that the vehicle remains stable even when turning from maximum driving speed to the maximum steering angle with maximum steering speed by the use of selective brake