Introduction
English, Revision 07, Date: 07.03.2018
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1.2
Suitable and unsuitable vehicle types
The range of particularly suitable vehicle types covers all vehicles that either have a
fixed axle or symmetrical steering. Vehicles such as trucks, forklift trucks, electric tow
tractors and some heavy-duty transporters fulfill these requirements. A fixed axle can
be applied to the axis of symmetry without the problem of dragging wheels in curves.
Figure 2
Example: A selection of vehicle types
The sketch below shows simplified versions of all vehicles as three-wheelers, because
this is the base vehicle model used by the track guidance controller. For example also
a car is only steered from one point, so the computer can consider it a three-wheeler.
Both wheels on the front axle follow a specified steering angle. The track guidance
controller can also be used for vehicles where the steered wheel is not in the middle
(e.g. some fork-lift trucks).
Figure 3
Sketch: Suitable vehicle types
The further the actual vehicle diverges from the typical three-wheeler model (e.g. cen-
ter-pivot steered vehicles such as front loaders where the distance between the axles
varies when turning), the less precise the tracking will be. Omnidirectional vehicles are
also suitable, but require a different firmware than the three-wheeler models.
Fixed axle
particularly suitable
e.g. fork lift trucks
Symmetrical axle
particularly suitable
e.g. some types of
heavy-load vehicles
Two fixed axles
reduced accuracy and
partially slipping wheels
e.g. large tractors
Articulated steering with
center pivot point
less accuracy
e.g. loader
Omnidirectional
drive / Mecanum
drive
requires different
firmware
