Machine-To-Machine Soft Docking System for Planetary Exploration

This paper introduces a technical framework for a cooperative, two-robot system capable of executing autonomous “soft docking” manoeuvres, serving as a critical prototype for future planetary logistics. The core innovation is a hybrid docking mechanism that uses an electromagnet for non-contact energy absorption (the Soft Capture System) & a servo-driven mechanical latch for secure, physical connection (the Hard Capture System). To attain the requisite millimetrelevel precision, the system incorporates an Extended Kalman Filter (EKF) for robust localization, seamlessly fusing noisy wheel encoder data with stable Inertial Measurement Unit (IMU) readings to effectively correct navigational drift. The docking sequence is governed by a Multi-Phase Finite State Machine (FSM), which utilizes a sensory hierarchy of ultrasonic, reflective infrared (IR) proximity checks, & a Hall effect sensor to guarantee alignment. Communication is managed by the low- latency ESP-NOW protocol. This integrated architecture presents a highly reliable, low-impact methodology for autonomous machine-to-machine resource exchange in challenging remote environments -