According to a far-end approaching method for an autonomous docking process of a reconfigurable unmanned vehicle provided by the invention, the problem of trajectory planning during remote approaching of the unmanned vehicle can be solved, the requirement of the autonomous dynamic reconfiguration process of the reconfigurable unmanned vehicle can be met, and the docking efficiency can be improved. In order to improve the docking efficiency of the reconfigurable unmanned vehicle, a far-end approaching track real-time planning algorithm considering steering mode switching is adopted in the far-end approaching process of the docking process of the reconfigurable unmanned vehicle, and an approaching track with short required time can be planned by adopting the algorithm.

    本发明提供一种可重构无人车自主对接过程远端接近方法,不仅能够解决无人车远端接近时的轨迹规划问题,满足可重构无人车自主动态重构过程的要求,且能够提高对接效率。为了提高可重构无人车的对接效率,本发明在可重构无人车对接过程的远端接近过程中采用了考虑转向模式切换的远端接近轨迹实时规划算法,采用该算法能够规划出所需时间短的接近轨迹。


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    Title :

    Far-end approaching method for autonomous docking process of reconfigurable unmanned vehicle


    Additional title:

    可重构无人车自主对接过程远端接近方法


    Contributors:
    NI JUN (author) / WU JIAFENG (author) / YUAN HAO (author) / JIANG XU (author) / MA MINGHAO (author)

    Publication date :

    2021-08-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES



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