TruckTrix® Path-Planning in the helyOS Operating System for Yard Automation

In this paper we briefly introduce the helyOS operating system for remote operation of autonomous mobile machines and more precisely the TruckTrix-Path Service, which is used for path planning for yard automation solutions, introduced by Fraunhofer Institute for Transportation and Infrastructure Systems. TruckTrix-Path provides the path planning for complex vehicle structures through critical narrows. Its extensions, developed specially for yard automation problems, adopt calculated trajectories for to be driven by a real automated truck. Alongside with other products of the TruckTrix-Family: TruckTrix-Coop, TruckTrix-Control and TruckTrix-Field it provides a fast and simple solution to control several automated vehicles on closed yards or fields.