A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION

doi:10.2316/Journal.206.2016.1.206-4424

	A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION
	Peng, Zhao 1; Cao Zhiqiang1 ; Nong, Gu 2; Chao, Zhou1 ; De, Xu1 ; Min, Tan1
发表期刊	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2016
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
DOI	10.2316/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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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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