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Volume 22
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10.3390/s22030770
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Article

A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm

by
Gan Zhan
1,
Shaohua Niu
1,*,
Wencai Zhang
1,
Xiaoyan Zhou
2,
Jinhui Pang
3,
Yingchao Li
4 and
Jigang Zhan
4
1
School of Mechatronical Engineering of Beijing Institute of Technology, Beijing 100081, China
2
School of Electrical Engineering, Beijing Jiaotong University, Beijing 100044, China
3
School of Computer Science and Technology of Beijing Institute of Technology, Beijing 100081, China
4
Beijing Zhongxin Hengyuan Technology Co., Ltd., Beijing 100081, China
*
Author to whom correspondence should be addressed.
Sensors 2022, 22(3), 770; https://doi.org/10.3390/s22030770
Submission received: 30 November 2021 / Revised: 1 January 2022 / Accepted: 15 January 2022 / Published: 20 January 2022
(This article belongs to the Special Issue Instrument and Measurement Based on Sensing Technology in China)
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Abstract

Aiming at the problem of unmanned reconfiguration and docking of ground vehicles under complex working conditions, we designed a piece of docking equipment composed of an active mechanism based on a six-degree-of-freedom platform and a locking mechanism with multi-sensors. Through the proposed control method based on laser and image sensor information fusion calculation, the six-dimensional posture information of the mechanism during the docking process is captured in real time so as to achieve high-precision docking. Finally, the effectiveness of the method and the feasibility of the 6-DOF platform are verified by the established model. The results show that the mechanism can meet the requirements of smooth docking of ground unmanned vehicles.
Keywords: docking mechanism; Stewart platform; visual control; fusion algorithm docking mechanism; Stewart platform; visual control; fusion algorithm

Share and Cite

MDPI and ACS Style

Zhan, G.; Niu, S.; Zhang, W.; Zhou, X.; Pang, J.; Li, Y.; Zhan, J. A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm. Sensors 2022, 22, 770. https://doi.org/10.3390/s22030770

AMA Style

Zhan G, Niu S, Zhang W, Zhou X, Pang J, Li Y, Zhan J. A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm. Sensors. 2022; 22(3):770. https://doi.org/10.3390/s22030770

Chicago/Turabian Style

Zhan, Gan, Shaohua Niu, Wencai Zhang, Xiaoyan Zhou, Jinhui Pang, Yingchao Li, and Jigang Zhan. 2022. "A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm" Sensors 22, no. 3: 770. https://doi.org/10.3390/s22030770

APA Style

Zhan, G., Niu, S., Zhang, W., Zhou, X., Pang, J., Li, Y., & Zhan, J. (2022). A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm. Sensors, 22(3), 770. https://doi.org/10.3390/s22030770

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