Fast reconstruction of an unmanned engineering vehicle and its application to carrying rocket

The Journal of Engineering

Shuwang Wang¹  Jun Qian¹  Huabing Zhu²  Yishan Zeng² 

[1] School of Mechanical and Automotive Engineering, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, Anhui Province, People's Republic of China

关键词: carrying rocket;    automatic control system;    higher-level controller;    on-board lower-level controller;    heavy goods transportation;    two-dimensional laser scanners;    extended Kalman filter;    vehicle movement;    closed-loop control system;    vehicle navigation;    unmanned engineering vehicle;    fast reconstruction process;   

DOI  :  10.1049/joe.2013.0145

学科分类：工程和技术（综合）

来源: IET

【 摘 要 】

Engineering vehicle is widely used as a huge moving platform for transporting heavy goods. However, traditional human operations have a great influence on the steady movement of the vehicle. In this Letter, a fast reconstruction process of an unmanned engineering vehicle is carried out. By adding a higher-level controller and two two-dimensional laser scanners on the moving platform, the vehicle could perceive the surrounding environment and locate its pose according to extended Kalman filter. Then, a closed-loop control system is formed by communicating with the on-board lower-level controller. To verify the performance of automatic control system, the unmanned vehicle is automatically navigated when carrying a rocket towards a launcher in a launch site. The experimental results show that the vehicle could align with the launcher smoothly and safely within a small lateral deviation of 1 cm. This fast reconstruction presents an efficient way of rebuilding low-cost unmanned special vehicles and other automatic moving platforms.

【 授权许可】

CC BY