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Zhan, Gan; Niu, Shaohua; Zhang, Wencai; Zhou, Xiaoyan; Pang, Jinhui; Li, Yingchao; Zhan, Jigang
Sensors, 01/2022, Volume: 22, Issue: 3Journal Article
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.
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