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

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 contr...

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Detalles Bibliográficos
Autores principales: Zhan, Gan, Niu, Shaohua, Zhang, Wencai, Zhou, Xiaoyan, Pang, Jinhui, Li, Yingchao, Zhan, Jigang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8838872/
https://www.ncbi.nlm.nih.gov/pubmed/35161517
http://dx.doi.org/10.3390/s22030770
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author Zhan, Gan
Niu, Shaohua
Zhang, Wencai
Zhou, Xiaoyan
Pang, Jinhui
Li, Yingchao
Zhan, Jigang
author_facet Zhan, Gan
Niu, Shaohua
Zhang, Wencai
Zhou, Xiaoyan
Pang, Jinhui
Li, Yingchao
Zhan, Jigang
author_sort Zhan, Gan
collection PubMed
description 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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spelling pubmed-88388722022-02-13 A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm Zhan, Gan Niu, Shaohua Zhang, Wencai Zhou, Xiaoyan Pang, Jinhui Li, Yingchao Zhan, Jigang Sensors (Basel) 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. MDPI 2022-01-20 /pmc/articles/PMC8838872/ /pubmed/35161517 http://dx.doi.org/10.3390/s22030770 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Zhan, Gan
Niu, Shaohua
Zhang, Wencai
Zhou, Xiaoyan
Pang, Jinhui
Li, Yingchao
Zhan, Jigang
A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm
title A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm
title_full A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm
title_fullStr A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm
title_full_unstemmed A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm
title_short A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm
title_sort docking mechanism based on a stewart platform and its tracking control based on information fusion algorithm
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8838872/
https://www.ncbi.nlm.nih.gov/pubmed/35161517
http://dx.doi.org/10.3390/s22030770
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