Autonomous Navigation Strategy and Docking Mechanism for Intelligent Chassis Module of Split Flying Vehicle

In response to the problems of urban traffic congestion and the limited expansion of infrastructure, this paper conducts two core research focusing on the intelligent chassis system of split-type flying vehicle. Firstly, an autonomous navigation strategy for the intelligent chassis module is proposed based on chassis module Navigation 2 architecture, which fuses LIDAR and IMU positioning to plan paths using the A* global planning algorithm on a global cost map, and update the local cost map in real time with sensor data. It is orchestrated by the BT Navigator using a behavior tree, with failures handled by the Recovery Server, to achieve autonomous driving across multiple waypoints. In simulation and closed-field experiments, the system can stably reach the preset target points. The positioning accuracy and trajectory tracking performance can meet the design requirements. Secondly, a mechanical slide rail-type docking structure adapted to the split flying vehicle architecture is designed. Deformation analysis under the representative working conditions are evaluated through finite element software. The test results show that the maximum deformation of this docking structure under typical load is significantly lower than the docking tolerance and positioning repeatability requirements. The structural stiffness and stability meet the design indicators. The above work indicates that the proposed autonomous navigation strategy and the docking structure for the intelligent chassis can effectively support the modular operation of “air trunk & ground terminal” mode, providing a scientific basis for the functional integration and system reliability research of split-type flying vehicles.