A biologically inspired method for vision-based docking of wheeled mobile robots

Authors:
Emily M. P. Low;Ian R. Manchester;Andrey V. Savkin
Affiliations:
School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney 2052, Australia;Department of Applied Physics and Electronics, UmeåUniversity, SE-901 87 Umeå, Sweden;School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney 2052, Australia
Venue:
Robotics and Autonomous Systems
Year:
2007

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Abstract

We present a new control law for the problem of docking a wheeled robot to a target at a certain location with a desired heading. Recent research into insect navigation has inspired a solution which uses only one video camera. The control law is of the ''behavioral'' type in that all control actions are based on immediate visual information. Docking success under certain conditions is proved mathematically and simulation studies show the control law to be robust to camera intrinsic parameter errors. Experiments were performed for verification of the control law.