MOBILE ROBOT DOCKING WITH OBSTACLE AVOIDANCE AND VISUAL SERVOING

Aaron H. Tan,∗ Abdulrahman Al-Shanoon,∗∗ Haoxiang Lang,∗∗∗ and Ying Wang∗∗∗∗

References

  1. [1] W.G. Walter, The living brain, 2nd ed. (W. W. Norton &Company, New York, United States, 1963).
  2. [2] M. Kim, H.W. Kim, and N.Y. Chong, Automated robotdocking using direction sensing RFID, in IEEE InternationalConference on Robotics and Automation, Roma, Italy, 2007.
  3. [3] Y. Hu, A. Vibhute, S. Foong, and G.S. Soh, Autonomousdocking of miniature spherical robots with an external 2Dlaser rangefinder, in IEEE Region 10 Conference, Singapore,Singapore, 2016.
  4. [4] K.-L. Su, Y.-L. Liao, S.-P. Lin, and S.-F. Lin, An interac-tive auto-recharging system for mobile robots, InternationalJournal of Automation and Smart Technology, 4(1), 2014,43–53.
  5. [5] K.L. Su, J.H. Guo, C.W. Hung, and Y.C. Song, Design anauto-recharging system for mobile robots, Applied Mechanicsand Materials, 190, 2012, 666–672.
  6. [6] K. Roufas, Y. Zhang, D. Duff, and M. Yim, Six degreeof freedom sensing for docking using IR LED emitters andreceivers, in Experimental Robotics VII, Waikiki, Hawaii, USA,2000.
  7. [7] Y. Niu, J. Zhang, T. Meng, and H. Wang, Design of ahome surveillance robot with self-recharging capabilities, inThird International Symposium on Knowledge Acquisition andModeling, Wuhan, China, 2010.
  8. [8] G. Song, H. Wang, J. Zhang, and T. Meng, Automaticdocking system for recharging home surveillance robots, IEEETransactions on Consumer Electronics, 57(2), 2011.
  9. [9] S. Saravanan and K. Ramamoorthy, Implementation of auto-matic docking system based home surveillance robot, GlobalResearch and Development Journal for Engineering, 2016.
  10. [10] P. Won, M. Biglarbegian, and W. Melek, Development of aneffective docking system for modular mobile self-reconfigurablerobots using extended Kalman filter and particle filter, Robotics,4, 2015, 25–49.
  11. [11] N. Barnes and Z.-Q. Liu, Fuzzy control for active percep-tual docking, in International Conference on Fuzzy Systems,Melbourne, Victoria, 2001.
  12. [12] M.C. Silverman, D. Nies, B. Jung, and G.S. Sukhatme, Stayingalive: A docking station for autonomous robot recharging, inIEEE International Conference on Robotics and Automation,Washington, DC, 2002.
  13. [13] T.-L. Chien, Developing a vision-based auto-recharging systemfor mobile robots, Artificial Life and Robotics, 16(1), 2011,74–77.
  14. [14] R. Quilez, A. Zeeman, N. Mitton, and J. Vandaele, Dockingautonomous robots in passive docks with Infrared sensorsand QR codes, in International Conference on Testbeds andResearch Infrastructures for the Development of Networks,Vancouver, Canada, 2015.
  15. [15] F. Guangrui and W. Geng, Vision-based autonomous dockingand re-charging system for mobile robot in warehouse envi-ronment, in 2nd International Conference on Robotics andAutomation Engineering, Shanghai, China, 2017.
  16. [16] L. Santos, F.N. Dos Santos, J. Mendes, N. Ferraz, J. Lima, R.Morais, and P. Costa, Path planning for automatic recharg-ing system for steep-slope vineyard robots, in Third IberianRobotics Conference, vol. 1 (2018), 261–272.
  17. [17] P. Cui, W. Yan, and Y. Wang, Reactive path planning ap-proach for docking robots in unknown environment, Journalof Advanced Transportation, 2017, 2017, 1–11.11
  18. [18] H. Koyasu and M. Wada, Plugin-docking system for au-tonomous charging using particle filter, in Thirteenth Inter-national Conference on Quality Control by Artificial Vision,Tokyo, Japan, 2017.
  19. [19] What is ROS?, ROS, [Online]. Available: http://www.ros.org/[Accessed 11 2018].
  20. [20] G. Grisetti, C. Stachniss, and W. Burgard, Improved techniquesfor grid mapping with Rao-Blackwellized particle filters, IEEETransactions on Robotics, 23(1), 2007.
  21. [21] D. Fox, Adapting the sample size in particle filters throughKLD-sampling, The International Journal of Robotics Re-search, 22(12), 2003.
  22. [22] P. Marin-Plaza, A. Hussein, D. Martin, and A. de la Escalera,Global and local path planning study in a ROS-based re-search platform for autonomous vehicles, Journal of AdvancedTransportation, 2018, 2018, 1–10.
  23. [23] R. Salem, base local planner, ROS.org, 8 March 2018. [Online].Available: http://wiki.ros.org/base local planner [Accessed 6November 2018].
  24. [24] A.H. Tan, A. Al-Shanoon, H. Lang, and M. El-Gindy, Mobilerobot regulation with image based visual servoing, in ASME In-ternational Design Engineering Technical Conferences & Com-puters and Information in Engineering Conference, Quebec,Ontario, 2018.
  25. [25] F. Chaumette and S. Hutchinson, Visual servo control part 1:Basic approaches, IEEE Robotics and Automation Magazine,13(4), 2006, 82–90.
  26. [26] A. Al-Shanoon, Tan, A. Hao, H. Lang, and M. El-Gindy,Mobile robot regulation with position based visual servoing,in IEEE International Conference on Computational Intelli-gence and Virtual Environments for Measurement Systems andApplications, Ottawa, Ontario, 2018.
  27. [27] C. Robotics, Husky: Unmanned Ground Vehicle [On-line]. Available: https://www.clearpathrobotics.com/husky-unmanned-ground-vehicle-robot/ [Accessed 5 11 2018].
  28. [28] M. Dirik, A.F. Kocamaz, and E. D¨onmez, Visual servoing basedcontrol methods for non-holonomic mobile robot, Journal ofEngineering Research, 8(2), 2020, 95–113.

Important Links:

Go Back