Semi-truck alley dock
Explore how single shooting improves a speed-and-steering sequence, then follow the tractor-semitrailer along that plan. Outlines ahead show its predicted pose every five seconds.
Loading recorded trajectories…
Solid gray: trailer axle so far · Dashed: remaining · Outlines: poses 5 s apart
Arrival trailer-axle error
Arrival trailer heading error
Arrival hitch angle
Trajectory cost
Each optimizer checkpoint is a complete 40-second plan for the tractor's speed and steering. Advancing simulation time follows that fixed plan; it does not replan. Checkpoints are not consecutive iterations: early iterations are all kept, later ones are geometrically spaced, and the cost curve uses every iteration. These are deterministic simulations of a kinematic tractor-semitrailer model. Arrival checks use the rectangular bodies drawn here.