Precision Unloading Control for Autonomous Transport Robot of Commercial Vehicles

The trend of utilizing automated equipment in port operations to enhance production efficiency is gaining momentum. Nevertheless, investigations into autonomous transfer equipment for commercial vehicles on roll-on/roll-off docks are still in their infancy, this paper centers on the development of a robotic system specifically designed for transporting commercial vehicles, introducing a method that relies on various sensors for accurate unloading. Multiple sets of LiDARs are used to accurately detect the pose information of the adjacent vehicle. One aspect involves controlling the placing velocity based on the distance to the preceding vehicle, wherein GPS assistance compensates for potential limitations in LiDAR scanning. Simultaneously, the steering angle of the front wheels is regulated based on lateral error and heading angle deviation from the adjacent vehicle. Ultimately, comprehensive real vehicle validations conclusively illustrate the precise control capabilities of the adopted approach, encompassing considerations of both lateral and longitudinal distances, as well as heading angles.