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

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.

Inspec keywords: intelligent control; Kalman filters; road vehicles; goods distribution; closed loop systems; remotely operated vehicles; path planning

Other keywords: 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

Subjects: Goods distribution; Control applications to materials handling; Filtering methods in signal processing; Road-traffic system control; Control technology and theory (production); Spatial variables control; Digital signal processing

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