Fast reconstruction of an unmanned engineering vehicle and its application to carrying rocket. Issue 3 (31st March 2014)

• Record Type: Journal Article
• Authors: Qian, Jun; Zhu, Huabing; Wang, Shuwang; Zeng, Yishan
• Is Part Of: Journal of engineering. Volume 2014:Issue 3(2014)
• Page Start: 111
• Page End: 116
• Publication Date: 2014-03-31
• Subjects: remotely operated vehicles -- road vehicles -- goods distribution -- Kalman filters -- closed loop systems -- path planning -- intelligent control; unmanned engineering vehicle -- carrying rocket -- heavy goods transportation -- vehicle movement -- fast reconstruction process -- higher‐level controller -- two‐dimensional laser scanners -- extended Kalman filter -- closed‐loop control system -- on‐board lower‐level controller -- automatic control system -- vehicle navigation; Engineering -- Periodicals; Engineering; Electronic journals; Periodicals; 620.005
• DOI: 10.1049/joe.2013.0145
• Languages: English
• ISSNs: 2051-3305

Abstract

Abstract : 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.