A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION
Peng, Zhao1; Cao Zhiqiang1; Nong, Gu2; Chao, Zhou1; De, Xu1; Min, Tan1
2016
发表期刊INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
卷号31期号:1页码:52-62
文章类型Article
摘要Docking 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.
关键词Marsupial Robotic System Coordinated Docking Embedded Vision Lifting Docking Station
WOS标题词Science & Technology ; Technology
DOI10.2316/Journal.206.2016.1.206-4424
关键词[WOS]ROBOT ; DESIGN ; TEAM
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61273352 ; 61175111 ; 61273337 ; 61305024 ; 60805038)
WOS研究方向Automation & Control Systems ; Robotics
WOS类目Automation & Control Systems ; Robotics
WOS记录号WOS:000371511300007
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/11034
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Deakin Univ, Ctr Intelligent Syst Res, Waurn Ponds, Vic, Australia
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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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