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A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm
- Source :
- Sensors, Vol 22, Iss 3, p 770 (2022)
- Publication Year :
- 2022
- Publisher :
- MDPI AG, 2022.
-
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.
Details
- Language :
- English
- ISSN :
- 14248220
- Volume :
- 22
- Issue :
- 3
- Database :
- Directory of Open Access Journals
- Journal :
- Sensors
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.f62cb22f36ca493c986105f3d1eb3144
- Document Type :
- article
- Full Text :
- https://doi.org/10.3390/s22030770