Hydrogen refuelling docking control driven by multi-scale perception and task decoupling

Key Points

• The research aims to enhance the precision and efficiency of hydrogen refuelling docking processes.
• Developed a multi-scale perception method for hydrogen port recognition
• Implemented a hybrid control strategy combining force and position control
• Utilized task space decoupling to optimize control during docking
• Achieved accurate axial force control during docking operations
• Reduced overall docking time compared to previous methods
• Improved reliability of robotic docking through enhanced perception methods