In this study,we investigate the automatic docking of an electric tractor with a semi-trailer in narrow and longdistance scenarios.We propose an automatic docking method based on a multi-sensor fusion high-precision p...In this study,we investigate the automatic docking of an electric tractor with a semi-trailer in narrow and longdistance scenarios.We propose an automatic docking method based on a multi-sensor fusion high-precision positioning algorithm and a multi-strategy docking control algorithm.To solve the heading-angle error of the involved camera due to mechanical errors,a compensation value in the form of angle deviation is introduced.To alleviate the increase in the camera detection error with longitudinal distance,a piecewise coordinate compensation function is proposed.Repositioning is performed using light detection and ranging(Lidar)to improve the pose-perception accuracy to the millimeter level.To avoid the interference of point clouds on the relocation accuracy of Lidar,a search-and-location method that combines both small and large neighborhoods is proposed.To achieve the desired docking success rate,a multi-strategy-adjustment control algorithm is used to enable comprehensive adjustment,including approximate control of the maximum angle based on lateral deviation and fine proportional-integral-differential(PID)control based on lateral deviation and longitudinal distance,security check cycle and premature warning mechanism,and risk avoidance control.Finally,the reliability and stability of the design scheme are verified by conducting multiple experiments involving actual vehicles.展开更多
According to the unattended loading requirements of the new generation launch vehicles,auto-docking technology for the first stage fill-drain connector and zero-second quick detachment technology for the second stage ...According to the unattended loading requirements of the new generation launch vehicles,auto-docking technology for the first stage fill-drain connector and zero-second quick detachment technology for the second stage fill-drain connector were proposed based on the analysis and summary of unattended loading connector technology at home and abroad.These technical solutions were verified to be reasonable and feasible by tests,and they had been successfully applied to the Long March 6 A(LM-6 A),laying a foundation for the unattended test and launch of the new generation launch vehicles.展开更多
基金supported by the National Natural Science Foundation of China(52175007/52175012)the Yangtze River Delta HIT robot technology research institute(HIT-CXY-CMP2-ADTIL-21-01)+1 种基金the China Postdoctoral Science Foundation(2018M630348)the Self-Planned Task(SKLRS202005B)of State Key Laboratory of Robotics and System(HIT).
文摘In this study,we investigate the automatic docking of an electric tractor with a semi-trailer in narrow and longdistance scenarios.We propose an automatic docking method based on a multi-sensor fusion high-precision positioning algorithm and a multi-strategy docking control algorithm.To solve the heading-angle error of the involved camera due to mechanical errors,a compensation value in the form of angle deviation is introduced.To alleviate the increase in the camera detection error with longitudinal distance,a piecewise coordinate compensation function is proposed.Repositioning is performed using light detection and ranging(Lidar)to improve the pose-perception accuracy to the millimeter level.To avoid the interference of point clouds on the relocation accuracy of Lidar,a search-and-location method that combines both small and large neighborhoods is proposed.To achieve the desired docking success rate,a multi-strategy-adjustment control algorithm is used to enable comprehensive adjustment,including approximate control of the maximum angle based on lateral deviation and fine proportional-integral-differential(PID)control based on lateral deviation and longitudinal distance,security check cycle and premature warning mechanism,and risk avoidance control.Finally,the reliability and stability of the design scheme are verified by conducting multiple experiments involving actual vehicles.
文摘According to the unattended loading requirements of the new generation launch vehicles,auto-docking technology for the first stage fill-drain connector and zero-second quick detachment technology for the second stage fill-drain connector were proposed based on the analysis and summary of unattended loading connector technology at home and abroad.These technical solutions were verified to be reasonable and feasible by tests,and they had been successfully applied to the Long March 6 A(LM-6 A),laying a foundation for the unattended test and launch of the new generation launch vehicles.
