The Reconfigurable Unmanned Vehicle (RUV), composed of modular 4×4 Reconfiguration Units (RUs) with Autonomous Docking Devices (ADDs), is designed to meet the diverse transportation demands of modern cities. To address postural deviations during autonomous docking, this paper proposes a Cooperative Posture-Correction (CPC) method to correct misalignment between adjacent RUs in a short time. The paper outlines the RUV's construction, develops its kinematic models, and formulates the docking behavior as a CPC framework, consisting of one aimless and two short-duration Optimal Control Problems (OCPs). Simulation results demonstrate that CPC maintains docking times under 8.5 seconds while ensuring smoothness and spatial efficiency.


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    Titel :

    A Cooperative Posture-Correction Method Based on Multi-Layer OCP for Reconfigurable Unmanned Vehicles in Autonomous Docking Process


    Beteiligte:
    Luo, Ying (Autor:in) / Wang, Tiezhen (Autor:in) / Yang, Xu (Autor:in)


    Erscheinungsdatum :

    25.10.2024


    Format / Umfang :

    4132663 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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