A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm

Gan Zhan; Shaohua Niu; Wencai Zhang; Xiaoyan Zhou; Jinhui Pang; Yingchao Li; Jigang Zhan

doi:10.3390/s22030770

A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm

Gan Zhan, Shaohua Niu^*, Wencai Zhang, Xiaoyan Zhou, Jinhui Pang, Yingchao Li, Jigang Zhan

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

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.

Original language	English
Article number	770
Journal	Sensors
Volume	22
Issue number	3
DOIs	https://doi.org/10.3390/s22030770
Publication status	Published - 1 Feb 2022

Keywords

Docking mechanism
Fusion algorithm
Stewart platform
Visual control

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10.3390/s22030770

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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.",

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author = "Gan Zhan and Shaohua Niu and Wencai Zhang and Xiaoyan Zhou and Jinhui Pang and Yingchao Li and Jigang Zhan",

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AU - Zhan, Gan

AU - Niu, Shaohua

AU - Zhang, Wencai

AU - Zhou, Xiaoyan

AU - Pang, Jinhui

AU - Li, Yingchao

AU - Zhan, Jigang

PY - 2022/2/1

Y1 - 2022/2/1

N2 - 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.

AB - 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.

KW - Docking mechanism

KW - Fusion algorithm

KW - Stewart platform

KW - Visual control

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A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm

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Keywords

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