Electric Vehicle Automatic Charging System Based on Vision-force Fusion

TL;DR

This paper presents a comprehensive automatic electric vehicle charging system that combines vision and force sensing for perception, planning, and control, successfully transferring from simulation to real-world application.

Contribution

It introduces a novel vision-force fusion approach for autonomous EV charging, integrating perception, planning, and control in a complete system.

Findings

System designed and tested in simulation and real-world

Experimental results demonstrate system effectiveness

Successful transfer from simulation to real environment

Abstract

Electric vehicles are an emerging means of transportation with environmental friendliness. The automatic charging is a hot topic in this field that is full of challenges. We introduce a complete automatic charging system based on vision-force fusion, which includes perception, planning and control for robot manipulations of the system. We design the whole system in simulation and transfer it to the real world. The experimental results prove the effectiveness of our system.