Fast reconstruction of an unmanned engineering vehicle and its application to carrying rocket
Jun Qian, Huabing Zhu, Shuwang Wang, Yishan Zeng · The Journal of Engineering · 2014
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.