Mobile Robot Docking With Obstacle Avoidance and Visual Servoing
Department
Robotics and Mechatronics Engineering
Document Type
Article
Publication Date
1-1-2023
Abstract
In many scenarios, mobile robots are required to work in a condition that prohibits human intervention. This condition introduces a problem of onboard power availability which is limited by the storage space and battery technologies. As a result, autonomous docking for robot recharging is necessary to ensure a long operation time. Recent literature shows that obstacle avoidance and precise localization of charging stations for mobile robot docking both are quite challenging. In this paper, a two-step autonomous docking algorithm is proposed, including online path planning and vision-based motion control. A full-system model and the control law are derived along with simulations and experimental results to demonstrate the feasibility of the proposed method.
Journal Title
International Journal of Robotics and Automation
Journal ISSN
08268185
Volume
38
Issue
2
First Page
97
Last Page
108
Digital Object Identifier (DOI)
10.2316/J.2023.206-0782