Autonomous docking of miniature spherical robots with an external 2D laser rangefinder

Y. Hu, A. Vibhute, S. Foong, G. Soh
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引用次数: 1

Abstract

This paper presents an autonomous docking strategy for miniature spherical rolling robots. Due to their small physical size, these robots do not have onboard depth sensing capabilities, and have difficulty docking autonomously to a charging station. This docking/charging station has been augmented with a 2D LiDAR, which is used to scan the immediate area to detect the position of the robot; a waypoint is then calculated and transmitted via a low power wireless network. This forms a closed-loop position control system, eliminating any accumulated position errors due to odometry or heading drift. This novel system is able to detect a spherical robot, which is devoid of any distinct features, and more importantly does not require any depth or vision sensors to be installed on the miniature robot for the docking procedure. The described strategy is implemented and practical test results are illustrated.
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微型球形机器人与外部二维激光测距仪的自主对接
提出了一种微型球形滚动机器人的自主对接策略。由于它们的物理尺寸小,这些机器人没有机载深度传感能力,并且难以自主对接到充电站。这个对接/充电站已经增强了一个2D激光雷达,用于扫描直接区域以检测机器人的位置;然后计算航路点并通过低功率无线网络传输。这形成了一个闭环的位置控制系统,消除了任何累积的位置误差,由于里程计或航向漂移。这种新颖的系统能够检测到一个没有任何明显特征的球形机器人,更重要的是不需要在微型机器人上安装任何深度或视觉传感器来进行对接过程。所述策略已实现,并给出了实际测试结果。
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