Docking Performance of a Four-Wheeled Autonomous Vehicle in Environments of Increasing Complexity

摘要

In order to carryout long-range missions, autonomous vehicles will require docking capabilities to refuel or transport other autonomous vehicles. The success rate of docking for a four-wheeled autonomous vehicle is not well classified as the environment becomes more obstacle-ridden. This paper presents a robot for docking based on a subsumption architecture and defines metrics to classify the complexity of an environment in which a robot carries out docking operations. Environments of increasing complexity are created, and the docking success of a four-wheeled autonomous vehicle is observed.