CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION
Peng, Zhao1; Cao Zhiqiang1; Nong, Gu2; Chao, Zhou1; De, Xu1; Min, Tan1
Source PublicationINTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
2016
Volume31Issue:1Pages:52-62
SubtypeArticle
AbstractDocking is an essential yet challenging problem to the deployment of marsupial robotic system involving a mother robot and several child robots, as the technologies such as rail-line tracking and global vision measurement are not suitable for applications in unknown environments. This chapter presents a coordinated docking approach based on embedded vision of the child robot collaborated by the mother robot with an innovative lifting docking station. The child robot utilizes a complementary metal oxide semiconductor (CMOS) camera to capture and extract image features related to a benchmark attached on the docking station, and the internal correlation between its heading direction and the entry direction of docking station is then derived, which makes the docking process be concise and convenient. On this basis, a coordinated docking task model is built and the transition conditions among task states are presented. The precision analysis of the docking is also discussed. The experimental results prove the effectiveness of the proposed approach.
KeywordMarsupial Robotic System Coordinated Docking Embedded Vision Lifting Docking Station
WOS HeadingsScience & Technology ; Technology
DOI10.2316/Journal.206.2016.1.206-4424
WOS KeywordROBOT ; DESIGN ; TEAM
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61273352 ; 61175111 ; 61273337 ; 61305024 ; 60805038)
WOS Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000371511300007
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11034
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Deakin Univ, Ctr Intelligent Syst Res, Waurn Ponds, Vic, Australia
Recommended Citation
GB/T 7714
Peng, Zhao,Cao Zhiqiang,Nong, Gu,et al. A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2016,31(1):52-62.
APA Peng, Zhao,Cao Zhiqiang,Nong, Gu,Chao, Zhou,De, Xu,&Min, Tan.(2016).A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,31(1),52-62.
MLA Peng, Zhao,et al."A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 31.1(2016):52-62.
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