A Cooperative Posture-Correction Method Based on Multi-Layer OCP for Reconfigurable Unmanned Vehicles in Autonomous Docking Process

The Reconfigurable Unmanned Vehicle (RUV), composed of modular 4×4 Reconfiguration Units (RUs) with Autonomous Docking Devices (ADDs), is designed to meet the diverse transportation demands of modern cities. To address postural deviations during autonomous docking, this paper proposes a Cooperative Posture-Correction (CPC) method to correct misalignment between adjacent RUs in a short time. The paper outlines the RUV's construction, develops its kinematic models, and formulates the docking behavior as a CPC framework, consisting of one aimless and two short-duration Optimal Control Problems (OCPs). Simulation results demonstrate that CPC maintains docking times under 8.5 seconds while ensuring smoothness and spatial efficiency.