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
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.