Abstract
Aiming at the problem of unmanned reconfiguration and docking of ground vehicles under complex working conditions, we designed a piece of docking equipment composed of an active mechanism based on a six-degree-of-freedom platform and a locking mechanism with multi-sensors. Through the proposed control method based on laser and image sensor information fusion calculation, the six-dimensional posture information of the mechanism during the docking process is captured in real time so as to achieve high-precision docking. Finally, the effectiveness of the method and the feasibility of the 6-DOF platform are verified by the established model. The results show that the mechanism can meet the requirements of smooth docking of ground unmanned vehicles.
Highlights
The concept of intelligent vehicles puts forward new requirements for vehicle formation, reconstruction and docking
The main contributions of this paper are as follows: (1) A simulation model of a docking mechanism based on a 6-DOF motion platform as the active mechanism and locking mechanism with external auxiliary equipment is established to realize vehicle unmanned docking and reconstruction under complex ground conditions
In the final experimental verification, it can be seen that under the condition of applying interference noise signals to simulate bumpy conditions, the position and posture curves measured by the moving platform are basically consistent with the position and posture curves of the locking mechanism
Summary
The concept of intelligent vehicles puts forward new requirements for vehicle formation, reconstruction and docking. The work of this paper is to design a docking mechanism based on a 6-DOF motion platform and use the information fusion algorithm of laser and visual sensors to realize the autonomous reconfiguration and docking of unmanned vehicles under complex ground conditions. (1) A simulation model of a docking mechanism based on a 6-DOF motion platform as the active mechanism and locking mechanism with external auxiliary equipment is established to realize vehicle unmanned docking and reconstruction under complex ground conditions. (1) A simulation model of a docking mechanism based on a 6-DOF motion platform as the active mechanism and locking mechanism with external auxiliary equipment is es of 18 tablished to realize vehicle unmanned docking and reconstruction under complex ground conditions. The future prospects for the further optimization of the mechanism and algorithm are put and algorithm are put forward
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