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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    Title :

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


    Contributors:
    Luo, Ying (author) / Wang, Tiezhen (author) / Yang, Xu (author)


    Publication date :

    2024-10-25


    Size :

    4132663 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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