tractor with three trailers

[Peter230655]

Now the tractor parks backwards with three trailers attached.
I am not pushing this with the aim of getting it merged, but just so you can see it.

1. With variable bounds it find a solution even with three trailers attached. I is visible that it uses the leeway given by the variable bounds.
2. I would have expected more of a bang-bang type solution, which it is not, looking at the driving force F(t). Actually it seems to converge to the large end of the bound for h, as if it were trying to maximize the duration....
3. The solution I give as initial guess actually gives an optimal result, but it takes maybe 20 min to get it. The additional 100 iterations only result in an acceptable result (but actually very slightly better = smaller h than the optimal solution)