Expert system controller for backing-up a truck-trailer system in a constrained space

An expert system based controller that is capable of backing-up a radio controlled toy truck-trailer to a desired loading dock in a constrained space is presented. The truck-trailer system is allowed to manoeuvre forward and backwards in the constrained space (parking lot) as necessary to accomplish its goal. This is an actual implementation in contrast to several other computer simulations reported in the literature. The experimental setup consists of a radio controlled toy truck-trailer, a personal computer (IBM PC 486), a digital to radio frequency (RF) command interface, and a vision system. Experimental results of the system are also included.