Docking for mobile robots

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Jan 1994Publisher:British Machine Vision AssociationJournal:Procedings of the British Machine Vision Conference 1994

Authors: G. J. Ellwood; Ying Zheng; John E. W. Mayhew;

doi: 10.5244/c.8.66

Docking for mobile robots

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Abstract

A method of vehicle control is described. Visual feedback from a microsaccadic tracker is used to provide a docking competence. The vehicle is thereby capable of arriving at goal position with a specified heading angle. The vehicle uses a beacon to estimate it's trajectory and position in the ground plane. This information is used to control the vehicle to move to a "via-point". Complex trajectories can be achieved composed of multiple via-points. This is achieved without the need to plan the path between the via-points. The algorithm is therefore computationally cheap.

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